/
clearpath_ridgeback__ur5__robotiq_two_finger_gripper__robotiq_fts150.urdf
1233 lines (1069 loc) · 38.1 KB
/
clearpath_ridgeback__ur5__robotiq_two_finger_gripper__robotiq_fts150.urdf
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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from UR5_gripper2.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="ur5">
<!-- =================================================================== -->
<!-- CLEARPATH RIDGEBACK MOVING BASE -->
<!-- =================================================================== -->
<material name="dark_grey">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
<material name="light_grey">
<color rgba="0.4 0.4 0.4 1.0"/>
</material>
<material name="red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="white">
<color rgba="0.9 0.9 0.9 1.0"/>
</material>
<material name="yellow">
<color rgba="0.8 0.8 0.0 1.0"/>
</material>
<material name="black">
<color rgba="0.15 0.15 0.15 1.0"/>
</material>
<link name="axle_link">
<visual>
<origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://ur5controller/ur5_description/ridgeback/axle.stl"/>
</geometry>
<material name="black"/>
</visual>
</link>
<joint name="front_rocker" type="fixed">
<parent link="axle_link"/>
<child link="front_rocker_link"/>
<origin rpy="0 0 0" xyz="0.319 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="0" lower="-0.08726" upper="0.08726" velocity="0"/>
</joint>
<link name="front_rocker_link">
<visual>
<origin rpy="1.57079632679 0 1.57079632679" xyz="0 0 0"/>
<geometry>
<mesh filename="package://ur5controller/ur5_description/ridgeback/rocker.stl"/>
</geometry>
<material name="black"/>
</visual>
<inertial>
<origin rpy="1.57079632679 0 1.57079632679" xyz="0 0 0"/>
<mass value="10.267"/>
<inertia ixx="0.0288" ixy="2.20484e-6" ixz="-1.3145e-5" iyy="0.4324" iyz="1.8944e-3" izz="0.4130"/>
</inertial>
</link>
<joint name="front_left_wheel" type="fixed">
<parent link="front_rocker_link"/>
<child link="front_left_wheel_link"/>
<origin rpy="0 0 0" xyz="0 0.2755 0"/>
<axis xyz="0 1 0"/>
</joint>
<link name="front_left_wheel_link">
<visual>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://ur5controller/ur5_description/ridgeback/wheel.stl"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.079" radius="0.0759"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="2.3"/>
<inertia ixx="3.3212e-3" ixy="0" ixz="0" iyy="6.6424e-3" iyz="0" izz="3.3212e-3"/>
</inertial>
</link>
<transmission name="front_wheel_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="front_left_wheel">
<hardwareInterface>VelocityJointInterface</hardwareInterface>
</joint>
<actuator name="front_left_actuator">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<link name="front_right_wheel_link">
<visual>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://ur5controller/ur5_description/ridgeback/wheel.stl"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.079" radius="0.0759"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="2.3"/>
<inertia ixx="3.3212e-3" ixy="0" ixz="0" iyy="6.6424e-3" iyz="0" izz="3.3212e-3"/>
</inertial>
</link>
<joint name="front_right_wheel" type="fixed">
<parent link="front_rocker_link"/>
<child link="front_right_wheel_link"/>
<origin rpy="0 0 0" xyz="0 -0.2755 0"/>
<axis xyz="0 1 0"/>
</joint>
<transmission name="front_wheel_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="front_right_wheel">
<hardwareInterface>VelocityJointInterface</hardwareInterface>
</joint>
<actuator name="front_right_actuator">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="rear_rocker" type="fixed">
<parent link="axle_link"/>
<child link="rear_rocker_link"/>
<origin rpy="0 0 0" xyz="-0.319 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="0" velocity="0"/>
</joint>
<link name="rear_rocker_link">
<visual>
<origin rpy="1.57079632679 0 1.57079632679" xyz="0 0 0"/>
<geometry>
<mesh filename="package://ur5controller/ur5_description/ridgeback/rocker.stl"/>
</geometry>
<material name="black"/>
</visual>
<inertial>
<origin rpy="1.57079632679 0 1.57079632679" xyz="0 0 0"/>
<mass value="10.267"/>
<inertia ixx="0.0288" ixy="2.20484e-6" ixz="-1.3145e-5" iyy="0.4324" iyz="1.8944e-3" izz="0.4130"/>
</inertial>
</link>
<link name="rear_left_wheel_link">
<visual>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://ur5controller/ur5_description/ridgeback/wheel.stl"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.079" radius="0.0759"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="2.3"/>
<inertia ixx="3.3212e-3" ixy="0" ixz="0" iyy="6.6424e-3" iyz="0" izz="3.3212e-3"/>
</inertial>
</link>
<joint name="rear_left_wheel" type="fixed">
<parent link="rear_rocker_link"/>
<child link="rear_left_wheel_link"/>
<origin rpy="0 0 0" xyz="0 0.2755 0"/>
<axis xyz="0 1 0"/>
</joint>
<transmission name="rear_wheel_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="rear_left_wheel">
<hardwareInterface>VelocityJointInterface</hardwareInterface>
</joint>
<actuator name="rear_left_actuator">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<link name="rear_right_wheel_link">
<visual>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://ur5controller/ur5_description/ridgeback/wheel.stl"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.079" radius="0.0759"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="2.3"/>
<inertia ixx="3.3212e-3" ixy="0" ixz="0" iyy="6.6424e-3" iyz="0" izz="3.3212e-3"/>
</inertial>
</link>
<joint name="rear_right_wheel" type="fixed">
<parent link="rear_rocker_link"/>
<child link="rear_right_wheel_link"/>
<origin rpy="0 0 0" xyz="0 -0.2755 0"/>
<axis xyz="0 1 0"/>
</joint>
<transmission name="rear_wheel_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="rear_right_wheel">
<hardwareInterface>VelocityJointInterface</hardwareInterface>
</joint>
<actuator name="rear_right_actuator">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<link name="ridgeback_base_link"/>
<joint name="base_link_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.28"/>
<parent link="ridgeback_base_link"/>
<child link="chassis_link"/>
</joint>
<link name="chassis_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://ur5controller/ur5_description/ridgeback/body.stl"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="package://ur5controller/ur5_description/ridgeback/body-collision.stl"/>
</geometry>
</collision>
<inertial>
<origin rpy="1.57079632679 0 1.57079632679" xyz="0.012 0.002 0.067"/>
<mass value="165.304"/>
<inertia ixx="4.4744" ixy="0.03098" ixz="0.003647" iyy="7.1624" iyz="0.1228" izz="4.6155"/>
</inertial>
</link>
<joint name="right_side_cover_link_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="chassis_link"/>
<child link="right_side_cover_link"/>
</joint>
<joint name="left_side_cover_link_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="chassis_link"/>
<child link="left_side_cover_link"/>
</joint>
<link name="left_side_cover_link">
<visual>
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://ur5controller/ur5_description/ridgeback/side-cover.stl"/>
</geometry>
<material name="yellow"/>
</visual>
</link>
<link name="right_side_cover_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://ur5controller/ur5_description/ridgeback/side-cover.stl"/>
</geometry>
<material name="yellow"/>
</visual>
</link>
<joint name="front_cover_link_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="chassis_link"/>
<child link="front_cover_link"/>
</joint>
<link name="front_cover_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://ur5controller/ur5_description/ridgeback/end-cover.stl"/>
</geometry>
<material name="black"/>
</visual>
</link>
<joint name="rear_cover_link_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="chassis_link"/>
<child link="rear_cover_link"/>
</joint>
<link name="rear_cover_link">
<visual>
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://ur5controller/ur5_description/ridgeback/end-cover.stl"/>
</geometry>
<material name="black"/>
</visual>
</link>
<joint name="front_lights_link_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="chassis_link"/>
<child link="front_lights_link"/>
</joint>
<joint name="rear_lights_link_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="chassis_link"/>
<child link="rear_lights_link"/>
</joint>
<link name="front_lights_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://ur5controller/ur5_description/ridgeback/lights.stl"/>
</geometry>
<material name="white"/>
</visual>
</link>
<link name="rear_lights_link">
<visual>
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://ur5controller/ur5_description/ridgeback/lights.stl"/>
</geometry>
<material name="red"/>
</visual>
</link>
<joint name="top_link_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="chassis_link"/>
<child link="top_link"/>
</joint>
<link name="top_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://ur5controller/ur5_description/ridgeback/top.stl"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://ur5controller/ur5_description/ridgeback/top.stl"/>
</geometry>
</collision>
</link>
<joint name="axle_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.05"/>
<parent link="chassis_link"/>
<child link="axle_link"/>
</joint>
<link name="imu_link">
<inertial>
<mass value="0.001"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="1e-09" ixy="0.0" ixz="0.0" iyy="1e-09" iyz="0.0" izz="1e-09"/>
</inertial>
</link>
<joint name="imu_joint" type="fixed">
<parent link="chassis_link"/>
<child link="imu_link"/>
<origin rpy="0 0 0" xyz="0.2085 -0.2902 0.1681"/>
</joint>
<link name="mid_mount"/>
<joint name="mid_mount_joint" type="fixed">
<parent link="ridgeback_base_link"/>
<child link="mid_mount"/>
<origin rpy="0 0 0" xyz="0 0 0.28"/>
</joint>
<link name="base_computer_box_link">
<visual>
<origin rpy="0 0 0" xyz="-1.55 -2.5 17.3"/>
<geometry>
<mesh filename="package://ur5controller/ur5_description/arm/meshes/visual/computer_box.stl"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-1.55 -2.5 17.3"/>
<geometry>
<mesh filename="package://ur5controller/ur5_description/arm/meshes/visual/computer_box.stl"/>
</geometry>
</collision>
</link>
<joint name="base_computer_box_joint" type="fixed">
<parent link="ridgeback_base_link"/>
<child link="base_computer_box_link"/>
<origin rpy="0 0 0" xyz="1.35 2.5 -17"/>
</joint>
<link name="arm_stand_link">
<visual>
<geometry>
<mesh filename="package://ur5controller/ur5_description/arm/meshes/visual/arm_stand.stl"/>
</geometry>
<origin rpy="1.57 0 0" xyz="0 0 0.2295"/>
<material name="white"/>
</visual>
<collision>
<geometry>
<mesh filename="package://ur5controller/ur5_description/arm/meshes/visual/arm_stand.stl"/>
</geometry>
<origin rpy="1.57 0 0" xyz="0 0 0.2295"/>
</collision>
</link>
<joint name="arm_stand_joint" type="fixed">
<parent link="mid_mount"/>
<child link="arm_stand_link"/>
<origin rpy="0 0 0" xyz="0.28 0.0 -0.28"/>
</joint>
<joint name="arm_stand_to_arm_joint" type="fixed">
<parent link="arm_stand_link"/>
<child link="base_link"/>
<origin rpy="0 0 -1.64060949685" xyz="0.0 0.0 0.456"/>
</joint>
<!-- =================================================================== -->
<!-- UR5 ROBOT DESCRIPTION -->
<!-- =================================================================== -->
<link name="base_link">
<visual>
<geometry>
<mesh filename="package://ur5controller/ur5_description/arm/meshes/visual/base.dae"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur5controller/ur5_description/arm/meshes/collision/base.stl"/>
</geometry>
</collision>
<inertial>
<mass value="4.0"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072"/>
</inertial>
</link>
<joint name="shoulder_pan_joint" type="revolute">
<parent link="base_link"/>
<child link="shoulder_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.089159"/>
<axis xyz="0 0 1"/>
<limit effort="150.0" lower="-6.26573" upper="6.26573" velocity="3.15"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="shoulder_link">
<visual>
<geometry>
<mesh filename="package://ur5controller/ur5_description/arm/meshes/visual/shoulder.dae"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur5controller/ur5_description/arm/meshes/collision/shoulder.stl"/>
</geometry>
</collision>
<inertial>
<mass value="3.7"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<inertia ixx="0.010267495893" ixy="0.0" ixz="0.0" iyy="0.010267495893" iyz="0.0" izz="0.00666"/>
</inertial>
</link>
<joint name="shoulder_lift_joint" type="revolute">
<parent link="shoulder_link"/>
<child link="upper_arm_link"/>
<origin rpy="0.0 1.570796325 0.0" xyz="0.0 0.13585 0.0"/>
<axis xyz="0 1 0"/>
<limit effort="150.0" lower="-6.26573" upper="6.26573" velocity="3.15"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="upper_arm_link">
<visual>
<geometry>
<mesh filename="package://ur5controller/ur5_description/arm/meshes/visual/upperarm.dae"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur5controller/ur5_description/arm/meshes/collision/upperarm.stl"/>
</geometry>
</collision>
<inertial>
<mass value="8.393"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.28"/>
<inertia ixx="0.22689067591" ixy="0.0" ixz="0.0" iyy="0.22689067591" iyz="0.0" izz="0.0151074"/>
</inertial>
</link>
<joint name="elbow_joint" type="revolute">
<parent link="upper_arm_link"/>
<child link="forearm_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 -0.1197 0.425"/>
<axis xyz="0 1 0"/>
<limit effort="150.0" lower="-6.26573" upper="6.26573" velocity="3.15"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="forearm_link">
<visual>
<geometry>
<mesh filename="package://ur5controller/ur5_description/arm/meshes/visual/forearm.dae"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur5controller/ur5_description/arm/meshes/collision/forearm.stl"/>
</geometry>
</collision>
<inertial>
<mass value="2.275"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.25"/>
<inertia ixx="0.049443313556" ixy="0.0" ixz="0.0" iyy="0.049443313556" iyz="0.0" izz="0.004095"/>
</inertial>
</link>
<joint name="wrist_1_joint" type="revolute">
<parent link="forearm_link"/>
<child link="wrist_1_link"/>
<origin rpy="0.0 1.570796325 0.0" xyz="0.0 0.0 0.39225"/>
<axis xyz="0 1 0"/>
<limit effort="28.0" lower="-6.26573" upper="6.26573" velocity="3.2"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="wrist_1_link">
<visual>
<geometry>
<mesh filename="package://ur5controller/ur5_description/arm/meshes/visual/wrist1.dae"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur5controller/ur5_description/arm/meshes/collision/wrist1.stl"/>
</geometry>
</collision>
<inertial>
<mass value="1.219"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<inertia ixx="0.111172755531" ixy="0.0" ixz="0.0" iyy="0.111172755531" iyz="0.0" izz="0.21942"/>
</inertial>
</link>
<joint name="wrist_2_joint" type="revolute">
<parent link="wrist_1_link"/>
<child link="wrist_2_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.093 0.0"/>
<axis xyz="0 0 1"/>
<limit effort="28.0" lower="-6.26573" upper="6.26573" velocity="3.2"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="wrist_2_link">
<visual>
<geometry>
<mesh filename="package://ur5controller/ur5_description/arm/meshes/visual/wrist2.dae"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur5controller/ur5_description/arm/meshes/collision/wrist2.stl"/>
</geometry>
</collision>
<inertial>
<mass value="1.219"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<inertia ixx="0.111172755531" ixy="0.0" ixz="0.0" iyy="0.111172755531" iyz="0.0" izz="0.21942"/>
</inertial>
</link>
<joint name="wrist_3_joint" type="revolute">
<parent link="wrist_2_link"/>
<child link="wrist_3_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.09465"/>
<axis xyz="0 1 0"/>
<limit effort="28.0" lower="-6.26573" upper="6.26573" velocity="3.2"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="wrist_3_link">
<visual>
<geometry>
<mesh filename="package://ur5controller/ur5_description/arm/meshes/visual/wrist3.dae"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur5controller/ur5_description/arm/meshes/collision/wrist3.stl"/>
</geometry>
</collision>
<inertial>
<mass value="0.1879"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<inertia ixx="0.0171364731454" ixy="0.0" ixz="0.0" iyy="0.0171364731454" iyz="0.0" izz="0.033822"/>
</inertial>
</link>
<transmission name="shoulder_pan_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="shoulder_pan_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="shoulder_pan_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="shoulder_lift_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="shoulder_lift_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="shoulder_lift_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="elbow_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="elbow_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="elbow_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="wrist_1_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="wrist_1_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="wrist_1_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="wrist_2_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="wrist_2_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="wrist_2_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="wrist_3_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="wrist_3_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="wrist_3_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- nothing to do here at the moment -->
<!-- ROS base_link to UR 'Base' Coordinates transform -->
<link name="base"/>
<joint name="base_link-base_fixed_joint" type="fixed">
<!-- NOTE: this rotation is only needed as long as base_link itself is
not corrected wrt the real robot (ie: rotated over 180
degrees)
-->
<origin rpy="0 0 -3.14159265" xyz="0 0 0"/>
<parent link="base_link"/>
<child link="base"/>
</joint>
<!-- Frame coincident with all-zeros TCP on UR controller -->
<link name="tool0"/>
<joint name="wrist_3_link-tool0_fixed_joint" type="fixed">
<origin rpy="-1.570796325 0 0" xyz="0 0.0823 0"/>
<parent link="wrist_3_link"/>
<child link="tool0"/>
</joint>
<!-- =================================================================== -->
<!-- ROBOTIQ FORCE TORQUE SENSOR FTS150 -->
<!-- =================================================================== -->
<link name="arm_to_force_torque_sensor_link">
<visual>
<geometry>
<box size="0.088 0.088 0.0125"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="white"/>
</visual>
<collision>
<geometry>
<box size="0.088 0.088 0.0125"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="arm_to_force_torque_sensor_joint" type="fixed">
<parent link="tool0"/>
<child link="arm_to_force_torque_sensor_link"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.00625"/>
</joint>
<!-- mount the fts to the robot -->
<joint name="robotiq_fts_fix" type="fixed" >
<!--In most cases origin would be flange adapter plate: <origin xyz="0 0 0.009" rpy="0 0 0"/> /-->
<!--insert_block name="origin" /-->
<parent link="arm_to_force_torque_sensor_link" />
<child link="robotiq_fts_robotside" />
<origin rpy="0 0 0" xyz="0.0 0.0 0.00625"/>
</joint>
<link name="robotiq_fts_robotside">
<inertial>
<origin xyz="0 0 0.01875" rpy="0 0 0"/>
<mass value="0.65"/>
<inertia ixx="0.000661171875" ixy="0" ixz="0" iyy="0.000661171875" iyz="0" izz="0.00117" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 -1.5708" />
<geometry>
<mesh filename="package://ur5controller/ur5_description/robotiq_force_torque_sensor/meshes/visual/robotiq_fts150.stl"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 -1.5708" />
<geometry>
<mesh filename="package://ur5controller/ur5_description/robotiq_force_torque_sensor/meshes/collision/robotiq_fts150.stl"/>
</geometry>
</collision>
</link>
<!-- virtual measurement frame -->
<joint name="robotiq_measurment_joint" type="fixed" >
<origin xyz="0 0 0.01625" rpy="0 0 0" />
<parent link="robotiq_fts_robotside" />
<child link="force_sensor_cable_port_placeholder_link" />
</joint>
<!-- This adds a small (invisible) collision constraint just to the
connection port of the force torque sensor. This will cover the cable
plug connected to it. -->
<link name="force_sensor_cable_port_placeholder_link">
<visual>
<geometry>
<box size="0.07 0.05 0.032"/>
</geometry>
<origin rpy="0 0 0" xyz="0 -0.085 0"/>
<material name="white"/>
</visual>
<collision>
<geometry>
<box size="0.07 0.05 0.032"/>
</geometry>
<origin rpy="0 0 0" xyz="0 -0.085 0"/>
</collision>
</link>
<joint name="force_sensor_cable_port_placeholder_joint" type="fixed">
<parent link="force_sensor_cable_port_placeholder_link"/>
<child link="robotiq_force_torque_frame_id"/>
<origin rpy="0 0 0" xyz="0.28 0.0 0.0"/>
</joint>
<link name="robotiq_force_torque_frame_id"/>
<!-- toolside frame -->
<joint name="robotiq_toolside_joint" type="fixed" >
<origin xyz="0 0 0.0375" rpy="0 0 0" />
<parent link="robotiq_fts_robotside" />
<child link="robotiq_fts_toolside" />
</joint>
<link name="robotiq_fts_toolside"/>
<link name="ee_link">
<collision>
<geometry>
<box size="0.01 0.01 0.01"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.01 0 0"/>
</collision>
</link>
<joint name="ee_fixed_joint" type="fixed">
<parent link="robotiq_fts_toolside"/>
<child link="ee_link"/>
<origin rpy="1.570796325 -1.570796325 0.0" xyz="0.0 0.0 0.08"/>
</joint>
<!-- =================================================================== -->
<!-- ROBOTIQ TWO FINGER GRIPPER -->
<!-- =================================================================== -->
<joint name="Gripper_Adapter_Fix" type="fixed">
<parent link="ee_link"/>
<child link="simple_gripper_base"/>
<origin rpy="0.0 1.57075 0.0" xyz="-0.08 0.0 0.0"/>
</joint>
<link name="simple_gripper_base">
<visual>
<geometry>
<mesh filename="package://ur5controller/ur5_description/robotiq_two_finger_gripper/meshes/visual/base.dae" scale="0.001 0.001 0.001"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.015"/>
<geometry>
<cylinder length="0.045" radius="0.04"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.06"/>
<geometry>
<box size="0.03 0.04 0.06"/>
</geometry>
</collision>
<inertial>
<origin rpy="1.57079632679 0 1.57079632679" xyz="0 0 0"/>
<mass value="1.267"/>
<inertia ixx="0.0288" ixy="2.20484e-6" ixz="-1.3145e-5" iyy="0.4324" iyz="1.8944e-3" izz="0.4130"/>
</inertial>
</link>
<!-- right finger -->
<joint name="simple_gripper_right_driver_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0.0306011 0.054904"/>
<parent link="simple_gripper_base"/>
<child link="simple_gripper_right_driver"/>
<axis xyz="1 0 0"/>
<limit effort="60" lower="0.0" upper="0.715584844444" velocity="1.91986177778"/>
</joint>
<link name="simple_gripper_right_driver">
<visual>
<geometry>
<mesh filename="package://ur5controller/ur5_description/robotiq_two_finger_gripper/meshes/visual/driver.dae" scale="0.001 0.001 0.001"/>
</geometry>
</visual>
<collision>
<origin rpy="-0.1 0 0" xyz="0 0.02 0"/>
<geometry>
<box size="0.02 0.04 0.02"/>
</geometry>
</collision>
<inertial>
<origin rpy="1.57079632679 0 1.57079632679" xyz="0 0 0"/>
<mass value="1.267"/>
<inertia ixx="0.0288" ixy="2.20484e-6" ixz="-1.3145e-5" iyy="0.4324" iyz="1.8944e-3" izz="0.4130"/>
</inertial>
</link>
<joint name="simple_gripper_right_coupler_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0.0315 -0.0041"/>
<parent link="simple_gripper_right_driver"/>
<child link="simple_gripper_right_coupler"/>
</joint>
<link name="simple_gripper_right_coupler">
<visual>
<geometry>
<mesh filename="package://ur5controller/ur5_description/robotiq_two_finger_gripper/meshes/visual/coupler.dae" scale="0.001 0.001 0.001"/>
</geometry>
</visual>
<collision>
<origin rpy="-1.7 0 0" xyz="0 0.0 0.025"/>
<geometry>
<box size="0.03 0.065 0.02"/>
</geometry>
</collision>
<inertial>
<origin rpy="1.57079632679 0 1.57079632679" xyz="0 0 0"/>
<mass value="1.267"/>
<inertia ixx="0.0288" ixy="2.20484e-6" ixz="-1.3145e-5" iyy="0.4324" iyz="1.8944e-3" izz="0.4130"/>
</inertial>
</link>
<joint name="simple_gripper_right_follower_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0.0061 0.0471"/>
<parent link="simple_gripper_right_coupler"/>
<child link="simple_gripper_right_follower"/>
<axis xyz="1 0 0"/>
<limit effort="176" lower="-2.96705911111" upper="2.96705911111" velocity="1.91986177778"/>
<mimic joint="simple_gripper_right_driver_joint" multiplier="-1"/>
</joint>
<link name="simple_gripper_right_follower">
<visual>
<geometry>
<mesh filename="package://ur5controller/ur5_description/robotiq_two_finger_gripper/meshes/visual/follower.dae" scale="0.001 0.001 0.001"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 -0.018 0.022"/>
<geometry>
<box size="0.02 0.015 0.048"/>
</geometry>
</collision>
<inertial>
<origin rpy="1.57079632679 0 1.57079632679" xyz="0 0 0"/>
<mass value="1.267"/>