/
robotiq_2f_85_urdf.xacro
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robotiq_2f_85_urdf.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro" name="robotiq_gripper">
<!-- parameters -->
<xacro:arg name="use_fake_hardware" default="true" />
<!-- If visualizing just the gripper with no arm, set the true, otherwise, set to false -->
<xacro:property name="gripper_only" value="false"/>
<xacro:macro name="robotiq_gripper" params="
name
prefix
parent
*origin
sim_ignition:=false
sim_isaac:=false
use_fake_hardware:=false
fake_sensor_commands:=false
include_ros2_control:=true
com_port:=/dev/ttyUSB0">
<!-- ros2 control include -->
<xacro:include filename="$(find robotiq_description)/urdf/robotiq_gripper.ros2_control.xacro" />
<!-- if we are simulating or directly communicating with the gripper we need a ros2 control instance -->
<xacro:if value="${include_ros2_control}">
<xacro:robotiq_gripper_ros2_control
name="${name}" prefix="${prefix}"
sim_ignition="${sim_ignition}"
sim_isaac="${sim_isaac}"
use_fake_hardware="${use_fake_hardware}"
fake_sensor_commands="${fake_sensor_commands}"
com_port="${com_port}"/>
</xacro:if>
<link name="${prefix}robotiq_85_base_link">
<visual>
<geometry>
<mesh filename="file://$(find robotiq_description)/meshes/visual/robotiq_base.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="file://$(find robotiq_description)/meshes/collision/robotiq_base.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 2.274e-05 0.03232288" rpy="0 0 0" />
<mass value="6.6320197e-01" />
<inertia ixx="5.1617816e-04" iyy="5.8802208e-04" izz="3.9462776e-04" ixy="2.936e-8" ixz="0.0" iyz="-3.2296e-7" />
</inertial>
</link>
<link name="${prefix}robotiq_85_left_knuckle_link">
<visual>
<geometry>
<mesh filename="file://$(find robotiq_description)/meshes/visual/left_knuckle.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="file://$(find robotiq_description)/meshes/collision/left_knuckle.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.01213197 0.0002 -0.00058647" rpy="0 0 0" />
<mass value="1.384773208e-02" />
<inertia ixx="3.5232e-7" iyy="2.31944e-6" izz="2.23136e-6" ixy="0.0" ixz="1.1744e-7" iyz="0" />
</inertial>
</link>
<link name="${prefix}robotiq_85_right_knuckle_link">
<visual>
<geometry>
<mesh filename="file://$(find robotiq_description)/meshes/visual/right_knuckle.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="file://$(find robotiq_description)/meshes/collision/right_knuckle.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.01213197 0.0002 -0.00058647" rpy="0 0 0" />
<mass value="1.384773208e-02" />
<inertia ixx="3.5232e-7" iyy="2.31944e-6" izz="2.23136e-6" ixy="0.0" ixz="-1.1744e-7" iyz="0.0" />
</inertial>
</link>
<link name="${prefix}robotiq_85_left_finger_link">
<visual>
<geometry>
<mesh filename="file://$(find robotiq_description)/meshes/visual/left_finger.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="file://$(find robotiq_description)/meshes/collision/left_finger.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00346899 -0.00079447 0.01867121" rpy="0 0 0" />
<mass value="4.260376752e-02" />
<inertia ixx="1.385792000000000e-05" iyy="1.183208e-05" izz="5.19672e-06" ixy="0.0" ixz="-2.17264e-06" iyz="0.0" />
</inertial>
</link>
<link name="${prefix}robotiq_85_right_finger_link">
<visual>
<geometry>
<mesh filename="file://$(find robotiq_description)/meshes/visual/right_finger.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="file://$(find robotiq_description)/meshes/collision/right_finger.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00346899 -5.53e-06 0.01867121" rpy="0 0 0" />
<mass value="4.260376752000000e-02" />
<inertia ixx="1.385792e-05" iyy="1.183208e-05" izz="5.19672e-06" ixy="0.0" ixz="2.17264e-06" iyz="0.0" />
</inertial>
</link>
<link name="${prefix}robotiq_85_left_inner_knuckle_link">
<visual>
<geometry>
<mesh filename="file://$(find robotiq_description)/meshes/visual/left_inner_knuckle.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="file://$(find robotiq_description)/meshes/collision/left_inner_knuckle.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.01897699 0.00015001 0.02247101" rpy="0 0 0" />
<mass value="2.969376448e-02" />
<inertia ixx="9.57136e-06" iyy="8.69056e-06" izz="8.19144e-06" ixy="0.0" ixz="-3.93424e-06" iyz="0.0" />
</inertial>
</link>
<link name="${prefix}robotiq_85_right_inner_knuckle_link">
<visual>
<geometry>
<mesh filename="file://$(find robotiq_description)/meshes/visual/right_inner_knuckle.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="file://$(find robotiq_description)/meshes/collision/right_inner_knuckle.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.01926824 5.001e-05 0.02222178" rpy="0 0 0" />
<mass value="2.969376448e-02" />
<inertia ixx="9.42456e-06" iyy="8.69056e-06" izz="8.33824e-06" ixy="0.0" ixz="3.9636e-06" iyz="0.0" />
</inertial>
</link>
<link name="${prefix}robotiq_85_left_finger_tip_link">
<visual>
<geometry>
<mesh filename="file://$(find robotiq_description)/meshes/visual/left_finger_tip.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="file://$(find robotiq_description)/meshes/collision/left_finger_tip.stl" />
</geometry>
<surface>
<friction>
<ode>
<mu1>100000.0</mu1>
<mu2>100000.0</mu2>
</ode>
</friction>
<contact>
<ode>
<kp>1e+5</kp>
<kd>1</kd>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<minDepth>0.002</minDepth>
<maxVel>0</maxVel>
</ode>
</contact>
</surface>
</collision>
<inertial>
<origin xyz="-0.01456706 -0.0008 0.01649701" rpy="0 0 0" />
<mass value="4.268588744e-02" />
<inertia ixx="1.048152e-05" iyy="1.197888e-05" izz="4.22784e-06" ixy="0.0" ixz="3.5232e-6" iyz="0.0" />
</inertial>
</link>
<link name="${prefix}robotiq_85_right_finger_tip_link">
<visual>
<geometry>
<mesh filename="file://$(find robotiq_description)/meshes/visual/right_finger_tip.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="file://$(find robotiq_description)/meshes/collision/right_finger_tip.stl" />
</geometry>
<surface>
<friction>
<ode>
<mu1>100000.0</mu1>
<mu2>100000.0</mu2>
</ode>
</friction>
<contact>
<ode>
<kp>1e+5</kp>
<kd>1</kd>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<minDepth>0.002</minDepth>
<maxVel>0</maxVel>
</ode>
</contact>
</surface>
</collision>
<inertial>
<origin xyz="0.01456706 5e-05 0.01649701" rpy="0 0 0" />
<mass value="4.268588744e-02" />
<inertia ixx="1.048152e-05" iyy="1.197888e-05" izz="4.22784e-06" ixy="0.0" ixz="-3.5232e-06" iyz="0.0" />
</inertial>
</link>
<joint name="${prefix}robotiq_85_base_joint" type="fixed">
<parent link="${parent}" />
<child link="${prefix}robotiq_85_base_link" />
<xacro:insert_block name="origin" />
</joint>
<joint name="${prefix}robotiq_85_left_knuckle_joint" type="revolute">
<parent link="${prefix}robotiq_85_base_link" />
<child link="${prefix}robotiq_85_left_knuckle_link" />
<axis xyz="0 -1 0" />
<origin xyz="0.03060114 0.0 0.05490452" rpy="0 0 0" />
<limit lower="0.0" upper="0.8" velocity="0.5" effort="50" />
</joint>
<joint name="${prefix}robotiq_85_right_knuckle_joint" type="revolute">
<parent link="${prefix}robotiq_85_base_link" />
<child link="${prefix}robotiq_85_right_knuckle_link" />
<axis xyz="0 -1 0" />
<origin xyz="-0.03060114 0.0 0.05490452" rpy="0 0 0" />
<limit lower="-0.8" upper="0.0" velocity="0.5" effort="50" />
<mimic joint="${prefix}robotiq_85_left_knuckle_joint" multiplier="-1" />
</joint>
<joint name="${prefix}robotiq_85_left_finger_joint" type="fixed">
<parent link="${prefix}robotiq_85_left_knuckle_link" />
<child link="${prefix}robotiq_85_left_finger_link" />
<origin xyz="0.03152616 0.0 -0.00376347" rpy="0 0 0" />
</joint>
<joint name="${prefix}robotiq_85_right_finger_joint" type="fixed">
<parent link="${prefix}robotiq_85_right_knuckle_link" />
<child link="${prefix}robotiq_85_right_finger_link" />
<origin xyz="-0.03152616 0.0 -0.00376347" rpy="0 0 0" />
</joint>
<joint name="${prefix}robotiq_85_left_inner_knuckle_joint" type="continuous">
<parent link="${prefix}robotiq_85_base_link" />
<child link="${prefix}robotiq_85_left_inner_knuckle_link" />
<axis xyz="0 -1 0" />
<origin xyz="0.0127 0.0 0.06142" rpy="0 0 0" />
<mimic joint="${prefix}robotiq_85_left_knuckle_joint" />
</joint>
<joint name="${prefix}robotiq_85_right_inner_knuckle_joint" type="continuous">
<parent link="${prefix}robotiq_85_base_link" />
<child link="${prefix}robotiq_85_right_inner_knuckle_link" />
<axis xyz="0 -1 0" />
<origin xyz="-0.0127 0.0 0.06142" rpy="0 0 0" />
<mimic joint="${prefix}robotiq_85_left_knuckle_joint" multiplier="-1" />
</joint>
<joint name="${prefix}robotiq_85_left_finger_tip_joint" type="continuous">
<parent link="${prefix}robotiq_85_left_finger_link" />
<child link="${prefix}robotiq_85_left_finger_tip_link" />
<axis xyz="0 -1 0" />
<origin xyz="0.00563134 0.0 0.04718515" rpy="0 0 0" />
<mimic joint="${prefix}robotiq_85_left_knuckle_joint" multiplier="-1" />
</joint>
<joint name="${prefix}robotiq_85_right_finger_tip_joint" type="continuous">
<parent link="${prefix}robotiq_85_right_finger_link" />
<child link="${prefix}robotiq_85_right_finger_tip_link" />
<axis xyz="0 -1 0" />
<origin xyz="-0.00563134 0.0 0.04718515" rpy="0 0 0" />
<mimic joint="${prefix}robotiq_85_left_knuckle_joint" />
</joint>
</xacro:macro>
<xacro:if value="${gripper_only}">
<link name="world" />
<xacro:robotiq_gripper name="RobotiqGripperHardwareInterface" prefix="" parent="world" use_fake_hardware="$(arg use_fake_hardware)">
<origin xyz="0 0 0" rpy="0 0 0" />
</xacro:robotiq_gripper>
</xacro:if>
<xacro:if value="${not gripper_only}">
<xacro:robotiq_gripper name="RobotiqGripperHardwareInterface" prefix="" parent="ur3e_tool0" use_fake_hardware="$(arg use_fake_hardware)">
<origin xyz="0 0 0" rpy="0 0 0" />
</xacro:robotiq_gripper>
</xacro:if>
</robot>