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feeding_utensil.xacro
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<?xml version="1.0" encoding="utf-8"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="load_feeding_utensil" params="parent prefix">
<joint name="${prefix}feeding_utensil_joint" type="fixed">
<parent link="${parent}"/>
<child link="${prefix}forkbase"/>
<origin rpy="0.0 -1.570796 -1.570796" xyz="0.0 0.0 0.153"/>
</joint>
<link
name="${prefix}forkbase">
<inertial>
<origin
xyz="0.0061112 0.00063068 0.019952"
rpy="0 0 0" />
<mass
value="0.097534" />
<inertia
ixx="3.6765E-05"
ixy="4.6072E-08"
ixz="-2.3579E-07"
iyy="2.7292E-05"
iyz="-6.4287E-09"
izz="3.9785E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://kortex_description/tools/feeding_utensil/base_link.stl" />
</geometry>
<material
name="">
<color
rgba="0.75294 1 0.75294 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://kortex_description/tools/feeding_utensil/base_link.stl" />
</geometry>
</collision>
</link>
<link
name="${prefix}forkpitch">
<inertial>
<origin
xyz="0.027347 0.0056419 -0.00036659"
rpy="0 0 0" />
<mass
value="0.019491" />
<inertia
ixx="2.528E-06"
ixy="2.6211E-09"
ixz="-3.5082E-09"
iyy="8.9887E-07"
iyz="-1.4142E-09"
izz="2.2752E-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://kortex_description/tools/feeding_utensil/pitch_link.stl" />
</geometry>
<material
name="">
<color
rgba="1 0.50196 0.50196 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://kortex_description/tools/feeding_utensil/pitch_link.stl" />
</geometry>
</collision>
</link>
<joint
name="${prefix}forkpitch_joint"
type="revolute">
<origin
xyz="0.0395 0 0"
rpy="0 0 0" />
<parent
link="${prefix}forkbase" />
<child
link="${prefix}forkpitch" />
<axis
xyz="0 -1 0" />
<limit
lower="${-pi/2}"
upper="${pi/2}"
effort="0.93"
velocity="8.4" />
</joint>
<link
name="${prefix}forkroll">
<inertial>
<origin
xyz="0.011976 -0.00049403 -0.00081409"
rpy="0 0 0" />
<mass
value="0.072775" />
<inertia
ixx="1.821E-05"
ixy="-4.1084E-09"
ixz="-1.448E-07"
iyy="1.062E-05"
iyz="-1.5136E-09"
izz="1.0557E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://kortex_description/tools/feeding_utensil/roll_link.stl" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://kortex_description/tools/feeding_utensil/roll_link.stl" />
</geometry>
</collision>
</link>
<joint
name="${prefix}forkroll_joint"
type="continuous">
<origin
xyz="0.045083 0 0"
rpy="0 0 0" />
<parent
link="${prefix}forkpitch" />
<child
link="${prefix}forkroll" />
<axis
xyz="1 0 0" />
<limit
effort="0.93"
velocity="8.4" />
</joint>
<link name="${prefix}feeding_utensil_tip">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="0" />
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
</link>
<joint name="${prefix}joint_feeding_utensil_tip" type="fixed">
<parent link="${prefix}forkroll"/>
<child link="${prefix}feeding_utensil_tip"/>
<axis xyz="0 0 0"/>
<limit effort="2000" lower="0" upper="0" velocity="1"/>
<!-- <origin rpy="0 0 0" xyz="0.095 0.007 0.0"/> -->
<origin rpy="0 0 0" xyz="0.095 0.00 0.00"/>
</joint>
<link name="${prefix}fork_tip">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="0" />
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
</link>
<joint name="${prefix}joint_fork_tip" type="fixed">
<parent link="${prefix}feeding_utensil_tip"/>
<child link="${prefix}fork_tip"/>
<axis xyz="0 0 0"/>
<limit effort="2000" lower="0" upper="0" velocity="1"/>
<origin rpy="1.570796 0 1.570796" xyz="0.0 0 0.0"/>
</joint>
</xacro:macro>
</robot>