[release] sawyer robot and franka_with_gripper_extension robot

robots/franka_with_gripper_extension/urdf/franka_with_gripper_extensions.urdf

@@ -0,0 +1,1005 @@
+<?xml version="1.0"?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from panda_arm_hand.urdf.xacro      | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="panda" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <link name="panda_link0">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/meshes_franka_with_gripper_extensions/visual/link0.dae" />
+      </geometry>
+      <material name="panda_white">
+        <color rgba="1. 1. 1. 1." />
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/meshes_franka_with_gripper_extensions/collision/link0.stl" />
+      </geometry>
+      <material name="panda_white" />
+    </collision>
+  </link>
+  <link name="panda_link1">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 -0.04 -0.05" />
+      <mass value="2.7" />
+      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/meshes_franka_with_gripper_extensions/visual/link1.dae" />
+      </geometry>
+      <material name="panda_white" />
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/meshes_franka_with_gripper_extensions/collision/link1.stl" />
+      </geometry>
+      <material name="panda_white" />
+    </collision>
+  </link>
+  <joint name="panda_joint1" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973"
+      soft_upper_limit="2.8973" />
+    <origin rpy="0 0 0" xyz="0 0 0.333" />
+    <parent link="panda_link0" />
+    <child link="panda_link1" />
+    <axis xyz="0 0 1" />
+    <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750" />
+  </joint>
+  <link name="panda_link2">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 -0.04 0.06" />
+      <mass value="2.73" />
+      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/meshes_franka_with_gripper_extensions/visual/link2.dae" />
+      </geometry>
+      <material name="panda_white" />
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/meshes_franka_with_gripper_extensions/collision/link2.stl" />
+      </geometry>
+      <material name="panda_white" />
+    </collision>
+  </link>
+  <joint name="panda_joint2" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628"
+      soft_upper_limit="1.7628" />
+    <origin rpy="-1.57079632679 0 0" xyz="0 0 0" />
+    <parent link="panda_link1" />
+    <child link="panda_link2" />
+    <axis xyz="0 0 1" />
+    <limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750" />
+  </joint>
+  <link name="panda_link3">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.01 0.01 -0.05" />
+      <mass value="2.04" />
+      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/meshes_franka_with_gripper_extensions/visual/link3.dae" />
+      </geometry>
+      <material name="panda_red">
+        <color rgba="1. 1. 1. 1." />
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/meshes_franka_with_gripper_extensions/collision/link3.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint3" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973"
+      soft_upper_limit="2.8973" />
+    <origin rpy="1.57079632679 0 0" xyz="0 -0.316 0" />
+    <parent link="panda_link2" />
+    <child link="panda_link3" />
+    <axis xyz="0 0 1" />
+    <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750" />
+  </joint>
+  <link name="panda_link4">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.03 0.03 0.02" />
+      <mass value="2.08" />
+      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/meshes_franka_with_gripper_extensions/visual/link4.dae" />
+      </geometry>
+      <material name="panda_white" />
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/meshes_franka_with_gripper_extensions/collision/link4.stl" />
+      </geometry>
+      <material name="panda_white" />
+    </collision>
+  </link>
+  <joint name="panda_joint4" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718"
+      soft_upper_limit="-0.0698" />
+    <origin rpy="1.57079632679 0 0" xyz="0.0825 0 0" />
+    <parent link="panda_link3" />
+    <child link="panda_link4" />
+    <axis xyz="0 0 1" />
+    <limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750" />
+  </joint>
+  <link name="panda_link5">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0.04 -0.12" />
+      <mass value="3" />
+      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/meshes_franka_with_gripper_extensions/visual/link5.dae" />
+      </geometry>
+      <material name="panda_white" />
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/meshes_franka_with_gripper_extensions/collision/link5.stl" />
+      </geometry>
+      <material name="panda_white" />
+    </collision>
+  </link>
+  <joint name="panda_joint5" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8975"
+      soft_upper_limit="2.8975" />
+    <origin rpy="-1.57079632679 0 0" xyz="-0.0825 0.384 0" />
+    <parent link="panda_link4" />
+    <child link="panda_link5" />
+    <axis xyz="0 0 1" />
+    <limit effort="12" lower="-2.8975" upper="2.8975" velocity="2.6100" />
+  </joint>
+  <link name="panda_link6">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.04 0 0" />
+      <mass value="1.3" />
+      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/meshes_franka_with_gripper_extensions/visual/link6.dae" />
+      </geometry>
+      <material name="panda_white" />
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/meshes_franka_with_gripper_extensions/collision/link6.stl" />
+      </geometry>
+      <material name="panda_white" />
+    </collision>
+  </link>
+  <joint name="panda_joint6" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175"
+      soft_upper_limit="3.7525" />
+    <origin rpy="1.57079632679 0 0" xyz="0 0 0" />
+    <parent link="panda_link5" />
+    <child link="panda_link6" />
+    <axis xyz="0 0 1" />
+    <limit effort="12" lower="-0.0175" upper="3.7525" velocity="2.6100" />
+  </joint>
+  <link name="panda_link7">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.08" />
+      <mass value=".2" />
+      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/meshes_franka_with_gripper_extensions/visual/link7.dae" />
+      </geometry>
+      <material name="panda_white" />
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/meshes_franka_with_gripper_extensions/collision/link7.stl" />
+      </geometry>
+      <material name="panda_white" />
+    </collision>
+  </link>
+  <joint name="panda_joint7" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973"
+      soft_upper_limit="2.8973" />
+    <origin rpy="1.57079632679 0 0" xyz="0.088 0 0" />
+    <parent link="panda_link6" />
+    <child link="panda_link7" />
+    <axis xyz="0 0 1" />
+    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100" />
+  </joint>
+  <link name="panda_link8">
+  </link>
+  <joint name="panda_joint8" type="fixed">
+    <origin rpy="0 0 -0.785398163397" xyz="0 0 0.107" />
+    <parent link="panda_link7" />
+    <child link="panda_link8" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <joint name="panda_hand_joint" type="fixed">
+    <parent link="panda_link8" />
+    <child link="panda_hand" />
+    <origin rpy="0 0 0" xyz="0 0 0.006" />
+  </joint>
+
+  <link name="panda_hand"></link>
+
+  <joint name="fake_flange_joint" type="fixed">
+    <parent link="panda_hand" />
+    <child link="fake_flange" />
+    <origin rpy="0 0 0" xyz="0 0 -0.006" />
+  </joint>
+
+  <link name="fake_flange"></link>
+
+  <joint name="flange_joint" type="fixed">
+    <parent link="fake_flange" />
+    <child link="flange" />
+    <origin rpy="0 3.1415926 3.1415926" xyz="0 0 0" /> <!--z 0.006-->
+  </joint>
+
+  <link
+    name="flange">
+    <inertial>
+      <origin
+        xyz="0.02283 0.0047681 -0.0022995"
+        rpy="0 0 0" />
+      <mass
+        value="0.058287" />
+      <inertia
+        ixx="2.9219E-05"
+        ixy="-9.9877E-06"
+        ixz="-1.076E-06"
+        iyy="5.5536E-05"
+        iyz="-2.1004E-07"
+        izz="8.4465E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/customized_gripper/flange.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="meshes/customized_gripper/flange.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="camera_link">
+    <inertial>
+      <origin
+        xyz="0.010114 -0.0020492 9.199E-05"
+        rpy="0 0 0" />
+      <mass
+        value="0.10278" />
+      <inertia
+        ixx="7.2613E-05"
+        ixy="-1.2272E-06"
+        ixz="-3.4142E-08"
+        iyy="7.0847E-06"
+        iyz="-1.1863E-08"
+        izz="7.1869E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/customized_gripper/camera_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="meshes/customized_gripper/camera_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="camera_joint"
+    type="fixed">
+    <origin
+      xyz="0.06 0 -0.003"
+      rpy="0 1.5708 0" />
+    <parent
+      link="flange" />
+    <child
+      link="camera_link" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="basebody1_link">
+    <inertial>
+      <origin
+        xyz="5.0336E-05 0.0010937 -0.016697"
+        rpy="0 0 0" />
+      <mass
+        value="0.17463" />
+      <inertia
+        ixx="0.00028328"
+        ixy="-1.4577E-07"
+        ixz="-6.5522E-08"
+        iyy="4.7378E-05"
+        iyz="9.2325E-07"
+        izz="0.00029833" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/customized_gripper/basebody1_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="meshes/customized_gripper/basebody1_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="basebody1_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="flange" />
+    <child
+      link="basebody1_link" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="cable1_link">
+    <inertial>
+      <origin
+        xyz="-7.6838E-16 0.085884 -0.011726"
+        rpy="0 0 0" />
+      <mass
+        value="0.0034189" />
+      <inertia
+        ixx="1.7275E-06"
+        ixy="1.2981E-21"
+        ixz="3.7235E-23"
+        iyy="8.7108E-07"
+        iyz="-4.4962E-07"
+        izz="8.6321E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/customized_gripper/cable1_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="meshes/customized_gripper/cable1_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="cable1_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="flange" />
+    <child
+      link="cable1_link" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="cable2_link">
+    <inertial>
+      <origin
+        xyz="-6.0542E-07 0.069512 0.015001"
+        rpy="0 0 0" />
+      <mass
+        value="0.0087825" />
+      <inertia
+        ixx="1.2068E-06"
+        ixy="-7.5509E-11"
+        ixz="2.1709E-10"
+        iyy="1.3571E-07"
+        iyz="1.7652E-10"
+        izz="1.2064E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/customized_gripper/cable2_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="meshes/customized_gripper/cable2_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="cable2_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="cable1_link" />
+    <child
+      link="cable2_link" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="basebody2_link">
+    <inertial>
+      <origin
+        xyz="-2.7792E-05 -0.0025508 -0.034721"
+        rpy="0 0 0" />
+      <mass
+        value="0.27945" />
+      <inertia
+        ixx="0.0014553"
+        ixy="-7.8451E-07"
+        ixz="1.1461E-07"
+        iyy="0.00018239"
+        iyz="1.0848E-05"
+        izz="0.0012903" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/customized_gripper/basebody2_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="meshes/customized_gripper/basebody2_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="basebody2_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="flange" />
+    <child
+      link="basebody2_link" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="panda_leftfinger">
+    <inertial>
+      <origin
+        xyz="-0.061342 2.0963E-16 -0.01465"
+        rpy="0 0 0" />
+      <mass
+        value="0.0093836" />
+      <inertia
+        ixx="5.2084E-07"
+        ixy="-1.0976E-22"
+        ixz="-8.838E-23"
+        iyy="5.0337E-07"
+        iyz="-1.2476E-22"
+        izz="6.2436E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/customized_gripper/finger_link1_1.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="meshes/customized_gripper/finger_link1_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="panda_finger_joint1"
+    type="prismatic">
+    <origin
+      xyz="0 0 -0.1324"
+      rpy="1.5708 1.5708 0" />
+    <parent
+      link="basebody2_link" />
+    <child
+      link="panda_leftfinger" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="0.04"
+      effort="0"
+      velocity="2.61" />
+  </joint>
+  <link
+    name="finger_link1_2">
+    <inertial>
+      <origin
+        xyz="-0.04133 -1.5222E-13 -0.017257"
+        rpy="0 0 0" />
+      <mass
+        value="0.01587" />
+      <inertia
+        ixx="8.3106E-07"
+        ixy="9.3513E-18"
+        ixz="-7.7481E-07"
+        iyy="3.0511E-06"
+        iyz="3.699E-18"
+        izz="3.24E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/customized_gripper/finger_link1_2.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="meshes/customized_gripper/finger_link1_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger_joint1_2"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="panda_leftfinger" />
+    <child
+      link="finger_link1_2" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
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