-
Notifications
You must be signed in to change notification settings - Fork 29
/
Copy pathfetch_camera.urdf
144 lines (134 loc) · 4.47 KB
/
fetch_camera.urdf
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
<robot name="fetch">
<link name="base0">
</link>
<link name="base1">
</link>
<link name="base_link">
<inertial>
<origin rpy="0 0 0" xyz="-0.0036 0.0 0.0014" />
<mass value="70.1294" />
<inertia ixx="1.225" ixy="0.0099" ixz="0.0062" iyy="1.2853" iyz="-0.0034" izz="0.987" />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="package://fetch_description/meshes/base_link.dae" />
</geometry>
<material name="">
<color rgba="0.356 0.361 0.376 1" />
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="package://fetch_description/meshes/base_link_collision.STL" />
</geometry>
</collision>
</link>
<joint name="base_joint1" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base0"/>
<child link="base1"/>
<axis xyz="0 0 1"/>
<limit effort="87" lower="-999999" upper="999999" velocity="4.0"/>
</joint>
<joint name="base_joint2" type="prismatic">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base1"/>
<child link="base_link"/>
<axis xyz="1 0 0"/>
<limit effort="87" lower="-999999" upper="999999" velocity="4.0"/>
</joint>
<link name="torso_lift_link">
<inertial>
<origin rpy="0 0 0" xyz="-0.0013 -0.0009 0.2935" />
<mass value="10.7796" />
<inertia ixx="0.3354" ixy="0.0" ixz="-0.0162" iyy="0.3354" iyz="-0.0006" izz="0.0954" />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="package://fetch_description/meshes/torso_lift_link.dae" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="package://fetch_description/meshes/torso_lift_link_collision.STL" />
</geometry>
</collision>
</link>
<joint name="torso_lift_joint" type="prismatic">
<origin rpy="-6.123E-17 0 0" xyz="-0.086875 0 0.37743" />
<parent link="base_link" />
<child link="torso_lift_link" />
<axis xyz="0 0 1" />
<limit effort="450.0" lower="0" upper="0.38615" velocity="0.1" />
<dynamics damping="100.0" /></joint>
<link name="head_pan_link">
<inertial>
<origin rpy="0 0 0" xyz="0.0321 0.0161 0.0390" />
<mass value="2.2556" />
<inertia ixx="0.0129" ixy="0.0002" ixz="0.0007" iyy="0.0095" iyz="-0.0" izz="0.0184" />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="package://fetch_description/meshes/head_pan_link.dae" />
</geometry>
<material name="">
<color rgba="0.356 0.361 0.376 1" />
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="package://fetch_description/meshes/head_pan_link_collision.STL" />
</geometry>
</collision>
</link>
<joint name="head_pan_joint" type="revolute">
<origin rpy="0 0 0" xyz="0.053125 0 0.603001417713939" />
<parent link="torso_lift_link" />
<child link="head_pan_link" />
<axis xyz="0 0 1" />
<limit effort="0.32" lower="-1.57" upper="1.57" velocity="1.57" /></joint>
<link name="head_tilt_link">
<inertial>
<origin rpy="0 0 0" xyz="0.0081 0.0025 0.0113" />
<mass value="0.9087" />
<inertia ixx="0.0061" ixy="-0.0" ixz="0.0002" iyy="0.0014" iyz="-0.0001" izz="0.0061" />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="package://fetch_description/meshes/head_tilt_link.dae" />
</geometry>
<material name="">
<color rgba="0.086 0.506 0.767 1" />
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="package://fetch_description/meshes/head_tilt_link_collision.STL" />
</geometry>
</collision>
</link>
<joint name="head_tilt_joint" type="revolute">
<origin rpy="0 0 0" xyz="0.14253 0 0.057999" />
<parent link="head_pan_link" />
<child link="head_tilt_link" />
<axis xyz="0 1 0" />
<limit effort="0.68" lower="-0.76" upper="1.45" velocity="1.57" />
</joint>
<link name="head_camera_link" />
<joint name="head_camera_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.055 0 0.0225" />
<parent link="head_tilt_link" />
<child link="head_camera_link" />
</joint>
</robot>