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stretch_uncalibrated.urdf
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stretch_uncalibrated.urdf
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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from ./stretch_urdf/SE3/xacro/stretch_description_SE3_eoa_wrist_dw3_tool_sg3.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="stretch">
<link name="base_link">
<inertial>
<origin rpy="0 0 0" xyz="-0.087526 -0.001626 0.081009"/>
<mass value="17.384389"/>
<inertia ixx="0.160002" ixy="0.006758" ixz="0.004621" iyy="0.138068" iyz="0.002208" izz="0.228992"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/base_link.STL"/>
</geometry>
<material name="">
<color rgba="0.79216 0.81961 0.93333 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/base_link_collision.STL"/>
</geometry>
</collision>
</link>
<link name="link_ground">
<inertial>
<origin rpy="0 0 0" xyz="5.55111512312578E-17 3.12250225675825E-17 -0.05"/>
<mass value="100"/>
<inertia ixx="8.41666666666667" ixy="-7.74916461211739E-16" ixz="-4.48957242105862E-16" iyy="8.41666666666667" iyz="-4.0797041547857E-15" izz="16.6666666666667"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/link_ground_collision.STL"/>
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/link_ground_collision.STL"/>
</geometry>
</collision>
</link>
<joint name="joint_ground" type="fixed">
<origin rpy="0 0 -1.5708" xyz="-0.1 -0.3185 0"/>
<parent link="base_link"/>
<child link="link_ground"/>
<axis xyz="0 0 0"/>
</joint>
<link name="link_right_wheel">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.02765"/>
<mass value="0.20773"/>
<inertia ixx="5.4E-05" ixy="0" ixz="0" iyy="5.4E-05" iyz="0" izz="5.1E-05"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/link_right_wheel.STL"/>
</geometry>
<material name="">
<color rgba="0.79216 0.81961 0.93333 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/link_right_wheel_collision.STL"/>
</geometry>
</collision>
</link>
<joint name="joint_right_wheel" type="continuous">
<origin rpy="-1.5708 1.2717E-16 4.8006E-17" xyz="0 -0.17035 0.0508"/>
<parent link="base_link"/>
<child link="link_right_wheel"/>
<axis xyz="0 0 1"/>
<dynamics damping="21.75" friction="10.48" spring_reference="0" spring_stiffness="0"/>
</joint>
<link name="link_left_wheel">
<inertial>
<origin rpy="0 0 0" xyz="0 0 -0.02765"/>
<mass value="0.20773"/>
<inertia ixx="5.4E-05" ixy="0" ixz="0" iyy="5.4E-05" iyz="0" izz="5.1E-05"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/link_left_wheel.STL"/>
</geometry>
<material name="">
<color rgba="0.79216 0.81961 0.93333 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/link_left_wheel_collision.STL"/>
</geometry>
</collision>
</link>
<joint name="joint_left_wheel" type="continuous">
<origin rpy="-1.5708 2.6317E-16 -8.2057E-19" xyz="0 0.17035 0.0508"/>
<parent link="base_link"/>
<child link="link_left_wheel"/>
<axis xyz="0 0 1"/>
<dynamics damping="21.75" friction="10.48" spring_reference="0" spring_stiffness="0"/>
</joint>
<link name="caster_link">
<collision>
<geometry>
<sphere radius="0.032"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<surface>
<friction>
<ode>
<mu>0</mu>
<mu2>0</mu2>
<slip1>1.0</slip1>
<slip2>1.0</slip2>
</ode>
</friction>
</surface>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/omni_wheel_m.STL"/>
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
<inertial>
<mass value="0.01"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
</inertial>
</link>
<joint name="caster_joint" type="fixed">
<parent link="base_link"/>
<child link="caster_link"/>
<origin rpy="-1.5707963267948966 0 0" xyz="-0.245 0.0 0.032"/>
<axis xyz="0 0 1"/>
</joint>
<link name="link_mast">
<inertial>
<origin rpy="0 0 0" xyz="0.000337 0.722201 0.002652"/>
<mass value="1.764017"/>
<inertia ixx="0.291286" ixy="0.004149" ixz="-0.000174" iyy="0.001226" iyz="0.000354" izz="0.291429"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/link_mast.STL"/>
</geometry>
<material name="">
<color rgba="0.79216 0.81961 0.93333 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/link_mast_collision.STL"/>
</geometry>
</collision>
</link>
<joint name="joint_mast" type="fixed">
<origin rpy="1.5708 0 4.8006E-17" xyz="-0.067 0.135 0.0284"/>
<parent link="base_link"/>
<child link="link_mast"/>
<axis xyz="0 0 0"/>
</joint>
<link name="link_lift">
<inertial>
<origin rpy="0 0 0" xyz="-0.020369 0.03438 0.02236"/>
<mass value="1.987167"/>
<inertia ixx="0.006518" ixy="-0.001539" ixz="0.000371" iyy="0.004464" iyz="0.000392" izz="0.008092"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/link_lift.STL"/>
</geometry>
<material name="">
<color rgba="0.79216 0.81961 0.93333 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/link_lift_collision.STL"/>
</geometry>
</collision>
</link>
<joint name="joint_lift" type="prismatic">
<origin rpy="-1.5708 1.5708 0" xyz="-0.037385 0.1666 0"/>
<parent link="link_mast"/>
<child link="link_lift"/>
<axis xyz="0 0 1"/>
<!-- for now: hand copied range_m: from lift: from ~/repos/stretch_fleet/stretch-re1-1001/stretch_re1_factory_params.yaml -->
<!--<limit effort="100" lower="0.0" upper="1.095" velocity="1.0"/>-->
<!-- copied value did not reach the top of mesh model with GUI sliders and RViz -->
<limit effort="100" lower="0.0" upper="1.1" velocity="1.0"/>
</joint>
<link name="link_arm_l4">
<inertial>
<origin rpy="0 0 0" xyz="-0.000168 -0.000254 -0.125235"/>
<mass value="0.235626"/>
<inertia ixx="0.001518" ixy="-1E-06" ixz="3E-06" iyy="0.001519" iyz="3E-06" izz="0.000176"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/link_arm_l4.STL"/>
</geometry>
<material name="">
<color rgba="0.79216 0.81961 0.93333 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/link_arm_l4_collision.STL"/>
</geometry>
</collision>
</link>
<joint name="joint_arm_l4" type="fixed">
<origin rpy="1.5708 2.4721E-15 -1.5708" xyz="-0.2547 0 0"/>
<parent link="link_lift"/>
<child link="link_arm_l4"/>
<axis xyz="0 0 0"/>
</joint>
<link name="link_arm_l3">
<inertial>
<origin rpy="0 0 0" xyz="-1E-06 -0.000146 -0.11908"/>
<mass value="0.146817"/>
<inertia ixx="0.001081" ixy="0" ixz="0" iyy="0.001081" iyz="-1E-06" izz="7.7E-05"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/link_arm_l3.STL"/>
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/link_arm_l3_collision.STL"/>
</geometry>
</collision>
</link>
<joint name="joint_arm_l3" type="prismatic">
<origin rpy="7.68831233799385E-30 2.36716479416092E-30 2.29652732251143E-17" xyz="0 0 0.013"/>
<parent link="link_arm_l4"/>
<child link="link_arm_l3"/>
<axis xyz="0 0 1"/>
<!-- 0.13 = 0.52/4-->
<limit effort="100" lower="0.0" upper="0.13" velocity="1.0"/>
</joint>
<link name="link_arm_l2">
<inertial>
<origin rpy="0 0 0" xyz="0 -7.1E-05 -0.115635"/>
<mass value="0.130565"/>
<inertia ixx="0.000943" ixy="0" ixz="0" iyy="0.000943" iyz="0" izz="5.7E-05"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/link_arm_l2.STL"/>
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/link_arm_l2_collision.STL"/>
</geometry>
</collision>
</link>
<joint name="joint_arm_l2" type="prismatic">
<origin rpy="0 1.57655765344625E-30 -1.66533453693773E-16" xyz="0 0 0.013"/>
<parent link="link_arm_l3"/>
<child link="link_arm_l2"/>
<axis xyz="0 0 1"/>
<!-- 0.13 = 0.52/4-->
<limit effort="100" lower="0.0" upper="0.13" velocity="1.0"/>
</joint>
<link name="link_arm_l1">
<inertial>
<origin rpy="0 0 0" xyz="-1E-06 -0.000121 -0.113457"/>
<mass value="0.113658"/>
<inertia ixx="0.0008" ixy="0" ixz="0" iyy="0.0008" iyz="0" izz="4E-05"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/link_arm_l1.STL"/>
</geometry>
<material name="">
<color rgba="0.79216 0.81961 0.93333 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/link_arm_l1_collision.STL"/>
</geometry>
</collision>
</link>
<joint name="joint_arm_l1" type="prismatic">
<origin rpy="-7.63746778746202E-30 -7.88860905221012E-31 1.11022302462516E-16" xyz="0 0 0.0129999999999981"/>
<parent link="link_arm_l2"/>
<child link="link_arm_l1"/>
<axis xyz="0 0 1"/>
<!-- 0.13 = 0.52/4-->
<limit effort="100" lower="0.0" upper="0.13" velocity="1.0"/>
</joint>
<link name="link_arm_l0">
<inertial>
<origin rpy="0 0 0" xyz="0.033681 -0.000847 -0.031723"/>
<mass value="0.427734"/>
<inertia ixx="0.001689" ixy="-2.8E-05" ixz="0.000483" iyy="0.002107" iyz="-1.1E-05" izz="0.000571"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/link_arm_l0.STL"/>
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/link_arm_l0_collision.STL"/>
</geometry>
</collision>
</link>
<joint name="joint_arm_l0" type="prismatic">
<origin rpy="7.63746778746202E-30 -3.80121128864402E-15 2.62707547767438E-15" xyz="0 0 -0.0137499999991968"/>
<parent link="link_arm_l1"/>
<child link="link_arm_l0"/>
<axis xyz="0 0 1"/>
<!-- 0.13 = 0.52/4-->
<limit effort="100" lower="0.0" upper="0.13" velocity="1.0"/>
</joint>
<link name="link_wrist_yaw">
<inertial>
<origin rpy="0 0 0" xyz="0 -3.9E-05 -0.016495"/>
<mass value="0.054422"/>
<inertia ixx="9E-06" ixy="0" ixz="0" iyy="9E-06" iyz="0" izz="7E-06"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/link_wrist_yaw.STL"/>
</geometry>
<material name="">
<color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/link_wrist_yaw_collision.STL"/>
</geometry>
</collision>
</link>
<joint name="joint_wrist_yaw" type="revolute">
<origin rpy="1.5708 4.2595E-14 2.6415E-15" xyz="0.0830000000000654 -0.0307500000000129 0"/>
<parent link="link_arm_l0"/>
<child link="link_wrist_yaw"/>
<axis xyz="0 0 -1"/>
<!--
stowed to front ~225 deg: 3.15159 x 1.25 = 3.9395
using 4.0
stowed to back ~100 deg: 100 / 180 x 3.14159 = 1.7453
using -1.75
-->
<limit effort="100" lower="-1.75" upper="4.0" velocity="1.0"/>
</joint>
<link name="link_head">
<inertial>
<origin rpy="0 0 0" xyz="0.047462 0.04451 0.016376"/>
<mass value="0.681871"/>
<inertia ixx="0.001023" ixy="0.000641" ixz="6.6E-05" iyy="0.002097" iyz="6.5E-05" izz="0.00281"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/link_head.STL"/>
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/link_head_collision.STL"/>
</geometry>
</collision>
</link>
<joint name="joint_head" type="fixed">
<origin rpy="1.5707963267949 -1.5707963267949 3.1416" xyz="0 1.33 0"/>
<parent link="link_mast"/>
<child link="link_head"/>
<axis xyz="0 0 0"/>
</joint>
<link name="link_head_pan">
<inertial>
<origin rpy="0 0 0" xyz="-0.000422 0.013934 -0.0161"/>
<mass value="0.062462"/>
<inertia ixx="4.1E-05" ixy="-1E-06" ixz="1E-06" iyy="3.2E-05" iyz="-1.5E-05" izz="2.2E-05"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/link_head_pan.STL"/>
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/link_head_pan_collision.STL"/>
</geometry>
</collision>
</link>
<joint name="joint_head_pan" type="revolute">
<origin rpy="0 0 1.5707963267949" xyz="0.135 0.0731000000000001 -0.00319621125547975"/>
<parent link="link_head"/>
<child link="link_head_pan"/>
<axis xyz="0 0 1"/>
<!-- unconstrained range for now -->
<limit effort="100" lower="-3.9" upper="1.5" velocity="1.0"/>
</joint>
<link name="link_head_tilt">
<inertial>
<origin rpy="0 0 0" xyz="0.003907 -0.02418 0.030154"/>
<mass value="0.283548"/>
<inertia ixx="0.000316" ixy="-6E-06" ixz="1E-06" iyy="0.000143" iyz="-2E-06" izz="0.00031"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/link_head_tilt.STL"/>
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/link_head_tilt_collision.STL"/>
</geometry>
</collision>
</link>
<joint name="joint_head_tilt" type="revolute">
<origin rpy="1.5707963267949 3.36459255518345E-15 -8.42914893687103E-17" xyz="-0.00130000001785262 0.0277624999926072 -0.0533107920897029"/>
<parent link="link_head_pan"/>
<child link="link_head_tilt"/>
<axis xyz="0 0 1"/>
<!-- unconstrained range for now -->
<limit effort="100" lower="-1.53" upper="0.79" velocity="1.0"/>
</joint>
<link name="link_aruco_right_base">
<inertial>
<origin rpy="0 0 0" xyz="1.3878E-17 0 -0.000125"/>
<mass value="3.59999999990368E-06"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/link_aruco_right_base.STL"/>
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/link_aruco_right_base.STL"/>
</geometry>
</collision>
</link>
<joint name="joint_aruco_right_base" type="fixed">
<origin rpy="0 0 -1.5707963267949" xyz="-0.0015028 -0.1304972 0.1597482"/>
<parent link="base_link"/>
<child link="link_aruco_right_base"/>
<axis xyz="0 0 0"/>
</joint>
<link name="link_aruco_left_base">
<inertial>
<origin rpy="0 0 0" xyz="2.7756E-17 0 -0.000125"/>
<mass value="3.59999999990368E-06"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/link_aruco_left_base.STL"/>
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/link_aruco_left_base.STL"/>
</geometry>
</collision>
</link>
<joint name="joint_aruco_left_base" type="fixed">
<origin rpy="0 0 -1.5707963267949" xyz="-0.00500000000000014 0.1304972 0.1597482"/>
<parent link="base_link"/>
<child link="link_aruco_left_base"/>
<axis xyz="0 0 0"/>
</joint>
<link name="link_aruco_shoulder">
<inertial>
<origin rpy="0 0 0" xyz="-2.77555756156289E-17 2.56739074444567E-16 -0.000125000000000042"/>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/link_aruco_shoulder.STL"/>
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/link_aruco_shoulder.STL"/>
</geometry>
</collision>
</link>
<joint name="joint_aruco_shoulder" type="fixed">
<origin rpy="-1.53998860117704E-29 3.55962409571165E-15 0.0" xyz="-0.0133768876375287 0.0558540528812078 0.0861368272417975"/>
<parent link="link_lift"/>
<child link="link_aruco_shoulder"/>
<axis xyz="0 0 0"/>
</joint>
<link name="link_aruco_top_wrist">
<inertial>
<origin rpy="0 0 0" xyz="-1.3531E-15 -3.4972E-15 -0.000125"/>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/link_aruco_top_wrist.STL"/>
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/link_aruco_top_wrist.STL"/>
</geometry>
</collision>
</link>
<joint name="joint_aruco_top_wrist" type="fixed">
<origin rpy="1.5707963267949 -8.03728587323464E-15 3.14159265358979" xyz="0.0472500000000019 0.0292850000000015 0"/>
<parent link="link_arm_l0"/>
<child link="link_aruco_top_wrist"/>
<axis xyz="0 0 0"/>
</joint>
<link name="link_aruco_inner_wrist">
<inertial>
<origin rpy="0 0 0" xyz="8.32667268468867E-17 1.77635683940025E-15 -0.000125000000000264"/>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/link_aruco_inner_wrist.STL"/>
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/link_aruco_inner_wrist.STL"/>
</geometry>
</collision>
</link>
<joint name="joint_aruco_inner_wrist" type="fixed">
<origin rpy="3.14159265358979 4.23377442363088E-14 3.14159265358979" xyz="0.0472499999999947 -0.0119000000000034 -0.0272499999991938"/>
<parent link="link_arm_l0"/>
<child link="link_aruco_inner_wrist"/>
<axis xyz="0 0 0"/>
</joint>
<material name="aluminum">
<color rgba="0.5 0.5 0.5 1"/>
</material>
<material name="plastic">
<color rgba="0.1 0.1 0.1 1"/>
</material>
<!-- camera body, with origin at bottom screw mount -->
<joint name="camera_joint" type="fixed">
<origin rpy="0.0 0.0 0.0" xyz="0.03 -0.0122 0.0182"/>
<parent link="link_head_tilt"/>
<child link="camera_bottom_screw_frame"/>
</joint>
<link name="camera_bottom_screw_frame"/>
<joint name="camera_link_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.010600000000000002 0.0175 0.0125"/>
<parent link="camera_bottom_screw_frame"/>
<child link="camera_link"/>
</joint>
<link name="camera_link">
<visual>
<!-- the mesh origin is at front plate in between the two infrared camera axes -->
<origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0043 -0.0175 0"/>
<geometry>
<mesh filename="./meshes/d435.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 -0.0175 0"/>
<geometry>
<box size="0.02505 0.09 0.025"/>
</geometry>
</collision>
<inertial>
<!-- The following are not reliable values, and should not be used for modeling -->
<mass value="0.072"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
</inertial>
</link>
<!-- camera depth joints and links -->
<joint name="camera_depth_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="camera_link"/>
<child link="camera_depth_frame"/>
</joint>
<link name="camera_depth_frame"/>
<joint name="camera_depth_optical_joint" type="fixed">
<origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
<parent link="camera_depth_frame"/>
<child link="camera_depth_optical_frame"/>
</joint>
<link name="camera_depth_optical_frame"/>
<!-- camera left IR joints and links -->
<joint name="camera_infra1_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0.0 0"/>
<parent link="camera_link"/>
<child link="camera_infra1_frame"/>
</joint>
<link name="camera_infra1_frame"/>
<joint name="camera_infra1_optical_joint" type="fixed">
<origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
<parent link="camera_infra1_frame"/>
<child link="camera_infra1_optical_frame"/>
</joint>
<link name="camera_infra1_optical_frame"/>
<!-- camera right IR joints and links -->
<joint name="camera_infra2_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 -0.05 0"/>
<parent link="camera_link"/>
<child link="camera_infra2_frame"/>
</joint>
<link name="camera_infra2_frame"/>
<joint name="camera_infra2_optical_joint" type="fixed">
<origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
<parent link="camera_infra2_frame"/>
<child link="camera_infra2_optical_frame"/>
</joint>
<link name="camera_infra2_optical_frame"/>
<!-- camera color joints and links -->
<joint name="camera_color_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0.015 0"/>
<parent link="camera_link"/>
<child link="camera_color_frame"/>
</joint>
<link name="camera_color_frame"/>
<joint name="camera_color_optical_joint" type="fixed">
<origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
<parent link="camera_color_frame"/>
<child link="camera_color_optical_frame"/>
</joint>
<link name="camera_color_optical_frame"/>
<link name="camera_accel_frame"/>
<link name="camera_accel_optical_frame"/>
<link name="camera_gyro_frame"/>
<link name="camera_gyro_optical_frame"/>
<joint name="camera_accel_joint" type="fixed">
<origin rpy="0 0 0" xyz="-0.01174 -0.00552 0.0051"/>
<parent link="camera_link"/>
<child link="camera_accel_frame"/>
</joint>
<joint name="camera_accel_optical_joint" type="fixed">
<origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
<parent link="camera_accel_frame"/>
<child link="camera_accel_optical_frame"/>
</joint>
<joint name="camera_gyro_joint" type="fixed">
<origin rpy="0 0 0" xyz="-0.01174 -0.00552 0.0051"/>
<parent link="camera_link"/>
<child link="camera_gyro_frame"/>
</joint>
<joint name="camera_gyro_optical_joint" type="fixed">
<origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
<parent link="camera_gyro_frame"/>
<child link="camera_gyro_optical_frame"/>
</joint>
<link name="laser">
<inertial>
<origin rpy="0 0 0" xyz="0.011979 -0.000523 -0.01998"/>
<mass value="0.216007"/>
<inertia ixx="9.5E-05" ixy="2E-06" ixz="-1.9E-05" iyy="0.000184" iyz="-1E-06" izz="0.000216"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/laser.STL"/>
</geometry>
<material name="">
<color rgba="0.250980392156863 0.250980392156863 0.250980392156863 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/laser_collision.STL"/>
</geometry>
</collision>
</link>
<joint name="joint_laser" type="fixed">
<origin rpy="0 0 3.1416" xyz="0.004 0 0.1664"/>
<parent link="base_link"/>
<child link="laser"/>
<axis xyz="0 0 0"/>
</joint>
<link name="base_imu">
<inertial>
<origin rpy="0 0 0" xyz="0.00300349280517617 0.00149777182047641 -0.00193103885249443"/>
<mass value="0.00092"/>
<inertia ixx="3E-08" ixy="0" ixz="0" iyy="5E-08" iyz="0" izz="8E-08"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/base_imu.STL"/>
</geometry>
<material name="">
<color rgba="0 0.772549019607843 0.207843137254902 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/base_imu.STL"/>
</geometry>
</collision>
</link>
<joint name="joint_base_imu" type="fixed">
<origin rpy="-3.1416 0 -1.5708" xyz="-0.12838 0.0031592 0.1474"/>
<parent link="base_link"/>
<child link="base_imu"/>
<axis xyz="0 0 0"/>
</joint>
<link name="respeaker_base">
<inertial>
<origin rpy="0 0 0" xyz="-0.001594 -0.001282 -0.008098"/>
<mass value="0.025175"/>
<inertia ixx="1E-05" ixy="2E-06" ixz="1E-06" iyy="1.2E-05" iyz="0" izz="1.5E-05"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/respeaker_base.STL"/>
</geometry>
<material name="">
<color rgba="0.79216 0.81961 0.93333 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/respeaker_base.STL"/>
</geometry>
</collision>
</link>
<joint name="joint_respeaker" type="fixed">
<origin rpy="-1.5707963267949 -0.698131700797725 4.93295812652799E-16" xyz="0 1.37236408874452 0.00303065898329655"/>
<parent link="link_mast"/>
<child link="respeaker_base"/>
<axis xyz="0 0 0"/>
</joint>
<link name="link_wrist_yaw_bottom">
<inertial>
<origin rpy="0 0 0" xyz="-0.0165399153795968 -0.0446328107020906 -0.0281087384763343"/>
<mass value="0.144548635554334"/>
<inertia ixx="4.56525957614798E-05" ixy="-1.08217417869179E-06" ixz="-1.44384040297111E-08" iyy="7.22875259104698E-05" iyz="3.40820143544021E-09" izz="8.76544308203217E-05"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/link_wrist_yaw_bottom.STL"/>
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/link_wrist_yaw_bottom_collision.STL"/>
</geometry>
</collision>
</link>
<joint name="joint_wrist_yaw_bottom" type="fixed">
<origin rpy="-3.14159265358979 0 -1.5707963267949" xyz="0 0 0"/>
<parent link="link_wrist_yaw"/>
<child link="link_wrist_yaw_bottom"/>
<axis xyz="0 0 0"/>
</joint>
<link name="link_wrist_pitch">
<inertial>
<origin rpy="0 0 0" xyz="-0.000711479645697954 -0.0147442681465562 0.0195140764319514"/>
<mass value="0.116590512374845"/>
<inertia ixx="5.76204624498191E-05" ixy="-7.78647509857216E-07" ixz="-2.86646997376633E-08" iyy="3.5844353951621E-05" iyz="1.06445058968725E-06" izz="6.36355321976534E-05"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/link_wrist_pitch.STL"/>
</geometry>
<material name="">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/link_wrist_pitch_collision.STL"/>
</geometry>
</collision>
</link>
<joint name="joint_wrist_pitch" type="revolute">
<origin rpy="1.5707963267949 0 0" xyz="0 0.0194549999999678 -0.0304999999999953"/>
<parent link="link_wrist_yaw_bottom"/>
<child link="link_wrist_pitch"/>
<axis xyz="0 0 -1"/>
<limit effort="100" lower="-1.57" upper="0.56" velocity="1.0"/>
</joint>
<link name="link_wrist_roll">
<inertial>
<origin rpy="0 0 0" xyz="0.000282866582415386 0.000557472767112266 0.0196635450480892"/>
<mass value="0.0221916689638078"/>
<inertia ixx="2.20608319376175E-06" ixy="3.01742816614342E-09" ixz="-1.83537060988685E-08" iyy="2.91436292743443E-06" iyz="-4.5509705441618E-08" izz="4.83731409646016E-06"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/link_wrist_roll.STL"/>
</geometry>
<material name="">
<color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/link_wrist_roll_collision.STL"/>
</geometry>
</collision>
</link>
<joint name="joint_wrist_roll" type="revolute">
<origin rpy="3.14159265358979 1.5707963267949 0" xyz="-0.0188587444077927 -0.0240000000000002 0.0195500000000002"/>
<parent link="link_wrist_pitch"/>
<child link="link_wrist_roll"/>
<axis xyz="0 0 1"/>
<limit effort="100" lower="-3.14" upper="3.14" velocity="1.0"/>
</joint>
<link name="link_wrist_quick_connect">
</link>
<joint name="joint_wrist_quick_connect" type="fixed">
<origin rpy="0 0 -3.14159265358975" xyz="0 0 0.0209999999999871"/>
<parent link="link_wrist_roll"/>
<child link="link_wrist_quick_connect"/>
</joint>
<link
name="link_gripper_s3_body">
<inertial>
<origin
xyz="0.00029636 0.0074249 0.044019"
rpy="0 0 0" />
<mass
value="0.289" />
<inertia
ixx="0.0004827"
ixy="-3.0203E-06"
ixz="6.7386E-07"
iyy="0.00021343"
iyz="-1.958E-05"
izz="0.00037764" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_gripper_s3_body.STL" />
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_gripper_s3_body_collision.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_gripper_s3_body"
type="fixed">
<origin
xyz="0 0 0.0209999999993159"
rpy="0 0 -3.14159265358975" />
<parent
link="link_wrist_roll" />
<child
link="link_gripper_s3_body" />
<axis
xyz="0 0 0" />
</joint>
<link
name="link_gripper_finger_right">
<inertial>
<origin
xyz="-0.107294725536829 -0.00404012121215261 7.86433341395387E-05"
rpy="0 0 0" />
<mass
value="0.0483698337858479" />
<inertia
ixx="3.0603544296956E-06"
ixy="-8.13967524445938E-07"
ixz="-6.04746355450674E-08"
iyy="6.12306677697621E-05"
iyz="-1.81592899124487E-08"
izz="6.24670188075471E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_gripper_finger_right_sg3.STL" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin