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right_vacuum_gripper.xacro
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right_vacuum_gripper.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="right_vacuum_gripper">
<xacro:include filename="$(find jsk_2016_01_baxter_apc)/robots/common_constants.xacro"/>
<xacro:arg name="finger" default="true" />
<!-- Gazebo Tags -->
<gazebo reference="right_gripper_base">
<selfCollide>true</selfCollide>
<material>Gazebo/Black</material>
</gazebo>
<gazebo reference="right_gripper_tube">
<selfCollide>true</selfCollide>
<material>Gazebo/Grey</material>
</gazebo>
<gazebo reference="right_gripper_pad_with_base">
<selfCollide>true</selfCollide>
<material>Gazebo/Green</material>
</gazebo>
<gazebo reference="right_gripper_l_finger_base">
<selfCollide>true</selfCollide>
<material>Gazebo/Black</material>
</gazebo>
<gazebo reference="right_gripper_r_finger_base">
<selfCollide>true</selfCollide>
<material>Gazebo/Black</material>
</gazebo>
<gazebo reference="right_gripper_l_finger">
<selfCollide>true</selfCollide>
<material>Gazebo/Black</material>
</gazebo>
<gazebo reference="right_gripper_r_finger">
<selfCollide>true</selfCollide>
<material>Gazebo/Black</material>
</gazebo>
<gazebo reference="right_gripper_vacuum_pad_joint">
<implicitSpringDamper>false</implicitSpringDamper>
</gazebo>
<gazebo reference="right_gripper_prismatic_joint">
<implicitSpringDamper>false</implicitSpringDamper>
</gazebo>
<!--Link bodies-->
<xacro:property name="rg_base_rect_offset_x" value="0.0065" />
<xacro:property name="rg_base_rect_l" value="0.2805" />
<xacro:property name="rg_base_rect_h" value="0.107" />
<xacro:property name="rg_base_rect_w" value="0.15" />
<xacro:property name="rg_camera_rect_offset_x" value="-0.061" />
<xacro:property name="rg_camera_rect_offset_y" value="-0.037" />
<xacro:property name="rg_camera_rect_offset_z" value="0.004" />
<xacro:property name="rg_camera_rect_l" value="0.04" />
<xacro:property name="rg_camera_rect_h" value="0.03" />
<xacro:property name="rg_camera_rect_w" value="0.165" />
<xacro:property name="rg_tube_rect_offset_x" value="0.0475" />
<xacro:property name="rg_tube_rect_offset_y" value="0.012" />
<xacro:property name="rg_tube_rect_offset_z" value="0.17" />
<xacro:property name="rg_tube_rect_l" value="0.29" />
<xacro:property name="rg_tube_rect_h" value="0.034" />
<xacro:property name="rg_tube_rect_w" value="0.081" />
<xacro:property name="rg_pad_with_base_offset_x" value="-0.048" />
<xacro:property name="rg_pad_with_base_offset_y" value="-0.0005" />
<xacro:property name="rg_pad_with_base_offset_z" value="-0.302" />
<xacro:property name="rg_pad_with_base_col_z" value="0.0145" />
<xacro:property name="rg_pad_with_base_rect_l" value="0.055" />
<xacro:property name="rg_pad_with_base_rect_h" value="0.028" />
<xacro:property name="rg_pad_with_base_rect_w" value="0.028" />
<xacro:property name="rg_finger_base_rect_l" value="0.022" />
<xacro:property name="rg_finger_base_rect_h" value="0.032" />
<xacro:property name="rg_finger_base_rect_w" value="0.036" />
<xacro:property name="rg_finger_rect_l" value="0.04" />
<xacro:property name="rg_finger_rect_h" value="0.016" />
<xacro:property name="rg_finger_rect_w" value="0.11" />
<!--Joints-->
<xacro:property name="rg_hand_offset_x" value="-0.01" />
<xacro:property name="rg_hand_offset_z" value="0" />
<xacro:property name="rg_pad_joint_offset_x" value="0.048" />
<xacro:property name="rg_pad_joint_offset_y" value="0.0005" />
<xacro:property name="rg_pad_joint_offset_z" value="0.302" />
<xacro:property name="rg_finger_base_offset_z" value="0.291352" />
<xacro:property name="rg_finger_base_offset_x" value="-0.014" />
<xacro:property name="rg_l_finger_base_offset_y" value="0.026" />
<xacro:property name="rg_r_finger_base_offset_y" value="-0.026" />
<xacro:property name="rg_palm_offset_x" value="0.015" />
<xacro:property name="rg_palm_offset_z" value="0.28" />
<!--Link bodies-->
<link name="right_gripper_base">
<visual>
<origin rpy="${M_PI/2} 0 ${M_PI/2}" xyz="0 0 0"/>
<geometry>
<mesh filename="package://jsk_2016_01_baxter_apc/meshes/gripper-v5/visual/right_gripper_base_main.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="lightgrey">
<color rgba="0.5 0.5 0.5 1"/>
</material>
</visual>
<visual>
<origin rpy="${M_PI/2} 0 ${M_PI/2}" xyz="0 0 0"/>
<geometry>
<mesh filename="package://jsk_2016_01_baxter_apc/meshes/gripper-v5/visual/right_gripper_palm_pad.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="lightbrown">
<color rgba="0.6 0.5 0.2 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="${rg_base_rect_offset_x} 0 ${rg_base_rect_l/2}"/>
<geometry>
<box size="${rg_base_rect_h} ${rg_base_rect_w} ${rg_base_rect_l}"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="${rg_camera_rect_offset_x} ${rg_camera_rect_offset_y} ${rg_camera_rect_offset_z}"/>
<geometry>
<box size="${rg_camera_rect_h} ${rg_camera_rect_w} ${rg_camera_rect_l}"/>
</geometry>
</collision>
<!--FIXME: Adjust inertia-->
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.3"/>
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
</inertial>
</link>
<link name="right_gripper_tube">
<visual>
<origin rpy="${M_PI/2} 0 ${M_PI/2}" xyz="0 0 0"/>
<geometry>
<mesh filename="package://jsk_2016_01_baxter_apc/meshes/gripper-v5/visual/right_gripper_tube_connectors.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="lightgrey">
<color rgba="0.5 0.5 0.5 1"/>
</material>
</visual>
<visual>
<origin rpy="${M_PI/2} 0 ${M_PI/2}" xyz="0 0 0"/>
<geometry>
<mesh filename="package://jsk_2016_01_baxter_apc/meshes/gripper-v5/visual/right_gripper_tube_main.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="white">
<color rgba="0.7 0.7 0.7 1"/>
</material>
</visual>
<visual>
<origin rpy="${M_PI/2} 0 ${M_PI/2}" xyz="0 0 0"/>
<geometry>
<mesh filename="package://jsk_2016_01_baxter_apc/meshes/gripper-v5/visual/right_gripper_tube_gear.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="blue">
<color rgba="0 0.24 0.82 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="${rg_tube_rect_offset_x} ${rg_tube_rect_offset_y} ${rg_tube_rect_offset_z}"/>
<geometry>
<box size="${rg_tube_rect_h} ${rg_tube_rect_w} ${rg_tube_rect_l}"/>
</geometry>
</collision>
<!--FIXME: Adjust inertia-->
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.3"/>
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
</inertial>
</link>
<link name="right_gripper_pad_with_base">
<visual>
<origin rpy="${M_PI/2} 0 ${M_PI/2}" xyz="${rg_pad_with_base_offset_x} ${rg_pad_with_base_offset_y} ${rg_pad_with_base_offset_z}"/>
<geometry>
<mesh filename="package://jsk_2016_01_baxter_apc/meshes/gripper-v5/visual/right_gripper_vacuum_pad_base.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="lightgrey">
<color rgba="0.5 0.5 0.5 1"/>
</material>
</visual>
<visual>
<origin rpy="${M_PI/2} 0 ${M_PI/2}" xyz="${rg_pad_with_base_offset_x} ${rg_pad_with_base_offset_y} ${rg_pad_with_base_offset_z}"/>
<geometry>
<mesh filename="package://jsk_2016_01_baxter_apc/meshes/gripper-v5/visual/right_gripper_vacuum_pad.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="green">
<color rgba="0 1 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 ${rg_pad_with_base_col_z}"/>
<geometry>
<box size="${rg_pad_with_base_rect_h} ${rg_pad_with_base_rect_w} ${rg_pad_with_base_rect_l}"/>
</geometry>
</collision>
<!--FIXME: Adjust inertia-->
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.01"/>
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
</inertial>
</link>
<xacro:if value="$(arg finger)">
<link name="right_gripper_r_finger_base">
<visual>
<origin rpy="${M_PI/2} 0 ${M_PI}" xyz="0 0 0"/>
<geometry>
<mesh filename="package://jsk_2016_01_baxter_apc/meshes/gripper-v5/visual/finger_base.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="lightgrey">
<color rgba="0.5 0.5 0.5 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 ${-rg_finger_base_rect_l/2}"/>
<geometry>
<box size="${rg_finger_base_rect_h} ${rg_finger_base_rect_w} ${rg_finger_base_rect_l}"/>
</geometry>
</collision>
<!--FIXME: Adjust inertia-->
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.01"/>
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
</inertial>
</link>
<link name="right_gripper_l_finger_base">
<visual>
<origin rpy="${M_PI/2} 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://jsk_2016_01_baxter_apc/meshes/gripper-v5/visual/finger_base.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="lightgrey">
<color rgba="0.5 0.5 0.5 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 ${-rg_finger_base_rect_l/2}"/>
<geometry>
<box size="${rg_finger_base_rect_h} ${rg_finger_base_rect_w} ${rg_finger_base_rect_l}"/>
</geometry>
</collision>
<!--FIXME: Adjust inertia-->
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.01"/>
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
</inertial>
</link>
<link name="right_gripper_r_finger">
<visual>
<origin rpy="${M_PI/2} 0 ${M_PI}" xyz="0 0 0"/>
<geometry>
<mesh filename="package://jsk_2016_01_baxter_apc/meshes/gripper-v5/visual/finger_main.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="lightgrey">
<color rgba="0.5 0.5 0.5 1"/>
</material>
</visual>
<visual>
<origin rpy="${M_PI/2} 0 ${M_PI}" xyz="0 0 0"/>
<geometry>
<mesh filename="package://jsk_2016_01_baxter_apc/meshes/gripper-v5/visual/finger_pad.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="lightbrown">
<color rgba="0.6 0.5 0.2 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 ${-rg_finger_rect_w/2} 0"/>
<geometry>
<box size="${rg_finger_rect_h} ${rg_finger_rect_w} ${rg_finger_rect_l}"/>
</geometry>
</collision>
<!--FIXME: Adjust inertia-->
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.01"/>
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
</inertial>
</link>
<link name="right_gripper_l_finger">
<visual>
<origin rpy="${M_PI/2} 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://jsk_2016_01_baxter_apc/meshes/gripper-v5/visual/finger_main.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="lightgrey">
<color rgba="0.5 0.5 0.5 1"/>
</material>
</visual>
<visual>
<origin rpy="${M_PI/2} 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://jsk_2016_01_baxter_apc/meshes/gripper-v5/visual/finger_pad.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="lightbrown">
<color rgba="0.6 0.5 0.2 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 ${rg_finger_rect_w/2} 0"/>
<geometry>
<box size="${rg_finger_rect_h} ${rg_finger_rect_w} ${rg_finger_rect_l}"/>
</geometry>
</collision>
<!--FIXME: Adjust inertia-->
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.01"/>
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
</inertial>
</link>
</xacro:if>
<xacro:unless value="$(arg finger)">
<link name="right_gripper_r_finger_base" />
<link name="right_gripper_l_finger_base" />
<link name="right_gripper_r_finger" />
<link name="right_gripper_l_finger" />
</xacro:unless>
<link name="right_gripper_palm_endpoint"/>
<!--Joints-->
<joint name="right_gripper_base_fixed" type="fixed">
<origin rpy="0 0 0" xyz="${rg_hand_offset_x} 0 ${rg_hand_offset_z}" />
<parent link="right_hand"/>
<child link="right_gripper_base"/>
</joint>
<joint name="right_gripper_prismatic_joint" type="prismatic">
<origin rpy="0 0 0" xyz="0 0 0" />
<parent link="right_gripper_base"/>
<child link="right_gripper_tube"/>
<axis xyz="0 0 1"/>
<limit lower="0" upper="0.124" effort="0" velocity="0.132"/>
<dynamics damping="0.7"/>
</joint>
<joint name="right_gripper_vacuum_pad_joint" type="revolute">
<origin rpy="0 0 0" xyz="${rg_pad_joint_offset_x} ${rg_pad_joint_offset_y} ${rg_pad_joint_offset_z}"/>
<parent link="right_gripper_tube"/>
<child link="right_gripper_pad_with_base"/>
<axis xyz="0 1 0"/>
<limit lower="-1.58" upper="1.58" effort="0" velocity="3.36"/>
<dynamics damping="0.7"/>
</joint>
<joint name="right_gripper_finger_yaw_joint" type="revolute">
<origin rpy="0 0 0" xyz="${rg_finger_base_offset_x} ${rg_l_finger_base_offset_y} ${rg_finger_base_offset_z}"/>
<parent link="right_gripper_base"/>
<child link="right_gripper_l_finger_base"/>
<axis xyz="0 0 1"/>
<limit lower="0" upper="1.58" effort="0" velocity="4.23"/>
<dynamics damping="0.7"/>
</joint>
<joint name="right_gripper_r_finger_yaw_joint" type="revolute">
<origin rpy="0 0 0" xyz="${rg_finger_base_offset_x} ${rg_r_finger_base_offset_y} ${rg_finger_base_offset_z}"/>
<parent link="right_gripper_base"/>
<child link="right_gripper_r_finger_base"/>
<mimic joint="right_gripper_finger_yaw_joint" multiplier="1"/>
<axis xyz="0 0 -1"/>
<limit lower="0" upper="1.58" effort="0" velocity="4.23"/>
<dynamics damping="0.7"/>
</joint>
<joint name="right_gripper_finger_roll_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="right_gripper_l_finger_base"/>
<child link="right_gripper_l_finger"/>
<axis xyz="1 0 0"/>
<limit lower="0" upper="3.14" effort="0" velocity="5.5"/>
<dynamics damping="0.7"/>
</joint>
<joint name="right_gripper_r_finger_roll_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="right_gripper_r_finger_base"/>
<child link="right_gripper_r_finger"/>
<mimic joint="right_gripper_finger_roll_joint" multiplier="1"/>
<axis xyz="-1 0 0"/>
<limit lower="0" upper="3.14" effort="0" velocity="5.5"/>
<dynamics damping="0.7"/>
</joint>
<joint name="right_gripper_palm_endpoint_fixed" type="fixed">
<origin rpy="0 ${M_PI} 0" xyz="${rg_palm_offset_x} 0 ${rg_palm_offset_z}" />
<parent link="right_gripper_base"/>
<child link="right_gripper_palm_endpoint"/>
</joint>
<!--Transmission-->
<transmission name="right_gripper_prismatic_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="right_gripper_prismatic_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="right_gripper_prismatic_joint_motor">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>41.66666667</mechanicalReduction>
</actuator>
</transmission>
<transmission name="right_gripper_vacuum_pad_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="right_gripper_vacuum_pad_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="right_gripper_vacuum_pad_tendon_winder">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1.637369792</mechanicalReduction>
</actuator>
</transmission>
<transmission name="right_gripper_finger_yaw_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="right_gripper_finger_yaw_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="right_gripper_finger_yaw_joint_motor">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1.3</mechanicalReduction>
</actuator>
</transmission>
<transmission name="right_gripper_finger_roll_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="right_gripper_finger_roll_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="right_gripper_finger_tendon_winder">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1.0</mechanicalReduction>
</actuator>
</transmission>
</robot>