-
Notifications
You must be signed in to change notification settings - Fork 86
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
- Loading branch information
Showing
16 changed files
with
7,188 additions
and
0 deletions.
There are no files selected for viewing
311 changes: 311 additions & 0 deletions
311
mycobot_description/urdf/adaptive_gripper/gripper_base.dae
Large diffs are not rendered by default.
Oops, something went wrong.
254 changes: 254 additions & 0 deletions
254
mycobot_description/urdf/adaptive_gripper/gripper_left1.dae
Large diffs are not rendered by default.
Oops, something went wrong.
197 changes: 197 additions & 0 deletions
197
mycobot_description/urdf/adaptive_gripper/gripper_left2.dae
Large diffs are not rendered by default.
Oops, something went wrong.
197 changes: 197 additions & 0 deletions
197
mycobot_description/urdf/adaptive_gripper/gripper_left3.dae
Large diffs are not rendered by default.
Oops, something went wrong.
254 changes: 254 additions & 0 deletions
254
mycobot_description/urdf/adaptive_gripper/gripper_right1.dae
Large diffs are not rendered by default.
Oops, something went wrong.
197 changes: 197 additions & 0 deletions
197
mycobot_description/urdf/adaptive_gripper/gripper_right2.dae
Large diffs are not rendered by default.
Oops, something went wrong.
197 changes: 197 additions & 0 deletions
197
mycobot_description/urdf/adaptive_gripper/gripper_right3.dae
Large diffs are not rendered by default.
Oops, something went wrong.
166 changes: 166 additions & 0 deletions
166
mycobot_description/urdf/adaptive_gripper/mycobot_adaptive_gripper.urdf
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,166 @@ | ||
| <?xml version="1.0"?> | ||
| <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter" > | ||
|
|
||
| <xacro:property name="width" value=".2" /> | ||
|
|
||
| <link name="gripper_base"> | ||
| <visual> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/adaptive_gripper/gripper_base.dae"/> | ||
| </geometry> | ||
| <origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/> | ||
| </visual> | ||
| <collision> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/adaptive_gripper/gripper_base.dae"/> | ||
| </geometry> | ||
| <origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/> | ||
| </collision> | ||
| </link> | ||
|
|
||
| <link name="gripper_left1"> | ||
| <visual> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/adaptive_gripper/gripper_left1.dae"/> | ||
| </geometry> | ||
| <origin xyz = "0.039 -0.0133 -0.012 " rpy = " 0 0 0"/> | ||
| </visual> | ||
| <collision> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/adaptive_gripper/gripper_left1.dae"/> | ||
| </geometry> | ||
| <origin xyz = "0.039 -0.0133 -0.012 " rpy = " 0 0 0"/> | ||
| </collision> | ||
| </link> | ||
|
|
||
| <link name="gripper_left2"> | ||
| <visual> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/adaptive_gripper/gripper_left2.dae"/> | ||
| </geometry> | ||
| <origin xyz = "0.005 -0.0195 -0.012 " rpy = " 0 0 0"/> | ||
| </visual> | ||
| <collision> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/adaptive_gripper/gripper_left2.dae"/> | ||
| </geometry> | ||
| <origin xyz = "0.005 -0.0195 -0.012 " rpy = " 0 0 0"/> | ||
| </collision> | ||
| </link> | ||
|
|
||
| <link name="gripper_left3"> | ||
| <visual> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/adaptive_gripper/gripper_left3.dae"/> | ||
| </geometry> | ||
| <origin xyz = "0.012 0.0025 -0.012 " rpy = " 0 0 0"/> | ||
| </visual> | ||
| <collision> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/adaptive_gripper/gripper_left3.dae"/> | ||
| </geometry> | ||
| <origin xyz = "0.012 0.0025 -0.012 " rpy = " 0 0 0"/> | ||
| </collision> | ||
| </link> | ||
|
|
||
| <link name="gripper_right1"> | ||
| <visual> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/adaptive_gripper/gripper_right1.dae"/> | ||
| </geometry> | ||
| <origin xyz = "-0.039 -0.0133 -0.012 " rpy = " 0 0 0"/> | ||
| </visual> | ||
| <collision> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/adaptive_gripper/gripper_right1.dae"/> | ||
| </geometry> | ||
| <origin xyz = "-0.039 -0.0133 -0.012 " rpy = " 0 0 0"/> | ||
| </collision> | ||
| </link> | ||
|
|
||
| <link name="gripper_right2"> | ||
| <visual> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/adaptive_gripper/gripper_right2.dae"/> | ||
| </geometry> | ||
| <origin xyz = "-0.005 -0.0195 -0.012 " rpy = " 0 0 0"/> | ||
| </visual> | ||
| <collision> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/adaptive_gripper/gripper_right2.dae"/> | ||
| </geometry> | ||
| <origin xyz = "-0.005 -0.0195 -0.012 " rpy = " 0 0 0"/> | ||
| </collision> | ||
| </link> | ||
|
|
||
| <link name="gripper_right3"> | ||
| <visual> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/adaptive_gripper/gripper_right3.dae"/> | ||
| </geometry> | ||
| <origin xyz = "-0.012 0.0025 -0.012 " rpy = " 0 0 0"/> | ||
| </visual> | ||
| <collision> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/adaptive_gripper/gripper_right3.dae"/> | ||
| </geometry> | ||
| <origin xyz = "-0.012 0.0025 -0.012" rpy = " 0 0 0"/> | ||
| </collision> | ||
| </link> | ||
|
|
||
|
|
||
| <joint name="gripper_controller" type="revolute"> | ||
| <axis xyz="0 0 1"/> | ||
| <limit effort = "1000.0" lower = "-0.7" upper = "0.15" velocity = "0"/> | ||
| <parent link="gripper_base"/> | ||
| <child link="gripper_left3"/> | ||
| <origin xyz= "-0.012 0.005 0" rpy = "0 0 0"/> | ||
| </joint> | ||
|
|
||
| <joint name="gripper_base_to_gripper_left2" type="revolute"> | ||
| <axis xyz="0 0 1"/> | ||
| <limit effort = "1000.0" lower = "-0.8" upper = "0.5" velocity = "0"/> | ||
| <parent link="gripper_base"/> | ||
| <child link="gripper_left2"/> | ||
| <origin xyz= "-0.005 0.027 0" rpy = "0 0 0"/> | ||
| <mimic joint="gripper_controller" multiplier="1.0" offset="0" /> | ||
| </joint> | ||
|
|
||
| <joint name="gripper_left3_to_gripper_left1" type="revolute"> | ||
| <axis xyz="0 0 1"/> | ||
| <limit effort = "1000.0" lower = "-0.5" upper = "0.5" velocity = "0"/> | ||
| <parent link="gripper_left3"/> | ||
| <child link="gripper_left1"/> | ||
| <origin xyz= "-0.027 0.016 0" rpy = "0 0 0"/> | ||
| <mimic joint="gripper_controller" multiplier="-1.0" offset="0" /> | ||
| </joint> | ||
|
|
||
| <joint name="gripper_base_to_gripper_right3" type="revolute"> | ||
| <axis xyz="0 0 1"/> | ||
| <limit effort = "1000.0" lower = "-0.15" upper = "0.7" velocity = "0"/> | ||
| <parent link="gripper_base"/> | ||
| <child link="gripper_right3"/> | ||
| <origin xyz= "0.012 0.005 0" rpy = "0 0 0"/> | ||
| <mimic joint="gripper_controller" multiplier="-1.0" offset="0" /> | ||
| </joint> | ||
|
|
||
| <joint name="gripper_base_to_gripper_right2" type="revolute"> | ||
| <axis xyz="0 0 1"/> | ||
| <limit effort = "1000.0" lower = "-0.5" upper = "0.8" velocity = "0"/> | ||
| <parent link="gripper_base"/> | ||
| <child link="gripper_right2"/> | ||
| <origin xyz= "0.005 0.027 0" rpy = "0 0 0"/> | ||
| <mimic joint="gripper_controller" multiplier="-1.0" offset="0" /> | ||
| </joint> | ||
|
|
||
| <joint name="gripper_right3_to_gripper_right1" type="revolute"> | ||
| <axis xyz="0 0 1"/> | ||
| <limit effort = "1000.0" lower = "-0.5" upper = "0.5" velocity = "0"/> | ||
| <parent link="gripper_right3"/> | ||
| <child link="gripper_right1"/> | ||
| <origin xyz= "0.027 0.016 0" rpy = "0 0 0"/> | ||
| <mimic joint="gripper_controller" multiplier="1.0" offset="0" /> | ||
| </joint> | ||
|
|
||
| </robot> | ||
|
|
Oops, something went wrong.