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duburcqa commited on
Commit
0f5098c
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1 Parent(s): 0d57cff

Add assets for URDF merge links.

Browse files
Files changed (3) hide show
  1. dual_arms_glb/cube.glb +3 -0
  2. dual_arms_glb/dual_arms_glb.urdf +532 -0
  3. dual_arms_primitives.urdf +526 -0
dual_arms_glb/cube.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:cb225b3d32df72c66b5c9b035736f74b762325f7c5279d762ce6897225fe277a
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+ size 1936
dual_arms_glb/dual_arms_glb.urdf ADDED
@@ -0,0 +1,532 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version='1.0' encoding='utf-8'?>
2
+ <robot name="Tianji Bimanual urdf">
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+ <link name="World" />
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+ <link name="Base_Mount">
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+ <inertial>
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+ <origin xyz="-0.12 0 0" rpy="0 0 0" />
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+ <mass value="2.0" />
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+ <inertia ixx="0.05" ixy="0" ixz="0" iyy="0.05" iyz="0" izz="0.05" />
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+ </inertial>
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+ <visual>
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+ <origin xyz="-0.12 0 0" rpy="1.5708 0 0" />
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+ <geometry>
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+ <cylinder radius="0.04" length="0.10" />
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+ </geometry>
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+ </visual>
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+ <collision>
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+ <origin xyz="-0.12 0 0" rpy="1.57079 0 0" />
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+ <geometry>
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+ <mesh filename="cube.glb" scale="1 1 1" />
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+ </geometry>
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+ </collision>
22
+ </link>
23
+ <joint name="World_to_Base_Mount" type="fixed">
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+ <origin xyz="0 0 0" rpy="0 1.5708 0" />
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+ <parent link="World" />
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+ <child link="Base_Mount" />
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+ </joint>
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+ <joint name="Base_R_to_Base_Mount" type="fixed">
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+ <origin xyz="-0.12 -0.037 0" rpy="1.5708 -1.5708 0" />
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+ <parent link="Base_Mount" />
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+ <child link="Base_R" />
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+ </joint>
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+ <link name="Base_R">
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+ <inertial>
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+ <origin xyz="0.00032267 4.798E-05 0.04066353" rpy="0 0 0" />
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+ <mass value="1.1962" />
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+ <inertia ixx="0.00107329" ixy="-1.68E-06" ixz="-1.05E-05" iyy="0.00107003" iyz="-3.43E-06" izz="0.00127315" />
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+ </inertial>
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+ <visual>
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+ <origin xyz="0 0 0.087" rpy="0 0 0" />
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+ <geometry>
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+ <cylinder radius="0.04" length="0.175" />
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+ </geometry>
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+ </visual>
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+ </link>
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+ <link name="Link1_R">
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+ <inertial>
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+ <origin xyz="0.00002347 0.00557150 -0.03075998" rpy="0 0 0" />
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+ <mass value="1.9705" />
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+ <inertia ixx="0.00492293" ixy="0.00000550" ixz="0.00000193" iyy="0.00526513" iyz="0.00033232" izz="0.00188107" />
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+ </inertial>
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+ <visual>
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <geometry>
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+ <cylinder radius="0.04" length="0.08" />
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+ </geometry>
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+ </visual>
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+ </link>
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+ <link name="Link2_R">
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+ <inertial>
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+ <origin xyz="0.00013483 0.06170460 0.00950639" rpy="0 0 0" />
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+ <mass value="2.24398" />
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+ <inertia ixx="0.01194933" ixy="0.00000336" ixz="0.00000091" iyy="0.00361581" iyz="-0.00132804" izz="0.01098356" />
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+ </inertial>
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+ <visual>
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+ <origin xyz="0 0.1435 0" rpy="1.5708 0 0" />
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+ <geometry>
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+ <cylinder radius="0.04" length="0.287" />
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+ </geometry>
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+ </visual>
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+ </link>
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+ <link name="Link3_R">
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+ <inertial>
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+ <origin xyz="0.00968562 0.00246599 -0.04627302" rpy="0 0 0" />
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+ <mass value="1.9242" />
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+ <inertia ixx="0.00718224" ixy="0.00004413" ixz="0.00089552" iyy="0.00762563" iyz="0.00022096" izz="0.00178597" />
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+ </inertial>
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+ <visual>
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <geometry>
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+ <cylinder radius="0.04" length="0.06" />
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+ </geometry>
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+ </visual>
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+ </link>
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+ <link name="Link4_R">
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+ <inertial>
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+ <origin xyz="0.00850411 -0.04718223 0.00941509" rpy="0 0 0" />
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+ <mass value="1.6085" />
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+ <inertia ixx="0.00580480" ixy="-0.00066669" ixz="-0.00012722" iyy="0.00223807" iyz="0.00070523" izz="0.00533060" />
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+ </inertial>
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+ <visual>
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+ <origin xyz="0 -0.157 0" rpy="1.5708 0 0" />
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+ <geometry>
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+ <cylinder radius="0.04" length="0.314" />
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+ </geometry>
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+ </visual>
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+ </link>
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+ <link name="Link5_R">
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+ <inertial>
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+ <origin xyz="-0.00051127 -0.00101064 -0.11271739" rpy="0 0 0" />
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+ <mass value="2.0883" />
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+ <inertia ixx="0.00626603" ixy="0.00004009" ixz="-0.00005338" iyy="0.00564387" iyz="0.00006193" izz="0.00243632" />
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+ </inertial>
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+ <visual>
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+ <origin xyz="0 0 0.06" rpy="0 0 0" />
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+ <geometry>
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+ <cylinder radius="0.035" length="0.12" />
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+ </geometry>
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+ </visual>
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+ </link>
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+ <link name="Link6_R">
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+ <inertial>
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+ <origin xyz="0.00032659 -0.00531336 0.00030182" rpy="0 0 0" />
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+ <mass value="0.72496" />
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+ <inertia ixx="0.00046040" ixy="-0.00000189" ixz="-0.00000083" iyy="0.00051716" iyz="-0.00000346" izz="0.00042521" />
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+ </inertial>
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+ <visual>
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <geometry>
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+ <cylinder radius="0.035" length="0.05" />
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+ </geometry>
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+ </visual>
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+ </link>
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+ <link name="Link7_R">
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+ <inertial>
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+ <origin xyz="-0.00009108 -0.03153255 0.00889371" rpy="0 0 0" />
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+ <mass value="0.68606" />
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+ <inertia ixx="0.00173687" ixy="-0.00000345" ixz="-0.00000116" iyy="0.00089035" iyz="0.00030680" izz="0.00139406" />
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+ </inertial>
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+ <visual>
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+ <origin xyz="0 -0.0475 0" rpy="1.5708 0 0" />
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+ <geometry>
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+ <cylinder radius="0.035" length="0.095" />
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+ </geometry>
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+ </visual>
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+ </link>
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+ <joint name="Joint1_R" type="revolute">
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+ <origin xyz="0 0 0.1745" rpy="0 0 0" />
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+ <parent link="Base_R" />
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+ <child link="Link1_R" />
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+ <axis xyz="0 0 1" />
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+ <limit lower="-3.1067" upper="3.1067" effort="108" velocity="3.1416" />
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+ </joint>
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+ <joint name="Joint2_R" type="revolute">
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+ <origin xyz="0 0 0" rpy="1.5708 0 0" />
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+ <parent link="Link1_R" />
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+ <child link="Link2_R" />
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+ <axis xyz="0 0 1" />
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+ <limit lower="-2.0944" upper="2.0944" effort="108" velocity="3.1416" />
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+ </joint>
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+ <joint name="Joint3_R" type="revolute">
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+ <origin xyz="0 0.287 0" rpy="-1.5708 0 0" />
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+ <parent link="Link2_R" />
154
+ <child link="Link3_R" />
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+ <axis xyz="0 0 1" />
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+ <limit lower="-3.1067" upper="3.1067" effort="66" velocity="3.1416" />
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+ </joint>
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+ <joint name="Joint4_R" type="revolute">
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+ <origin xyz="0.018 0 0" rpy="-1.5708 0 3.1416" />
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+ <parent link="Link3_R" />
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+ <child link="Link4_R" />
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+ <axis xyz="0 0 1" />
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+ <limit lower="-2.5307" upper="1.0472" effort="66" velocity="3.1416" />
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+ </joint>
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+ <joint name="Joint5_R" type="revolute">
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+ <origin xyz="0.018 -0.314 0" rpy="-1.5708 0 3.1416" />
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+ <parent link="Link4_R" />
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+ <child link="Link5_R" />
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+ <axis xyz="0 0 1" />
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+ <limit lower="-3.1067" upper="3.1067" effort="18" velocity="3.1416" />
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+ </joint>
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+ <joint name="Joint6_R" type="revolute">
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+ <origin xyz="0 0 0" rpy="1.5708 -1.5708 0" />
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+ <parent link="Link5_R" />
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+ <child link="Link6_R" />
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+ <axis xyz="0 0 1" />
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+ <limit lower="-1.0472" upper="1.0472" effort="18" velocity="3.1416" />
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+ </joint>
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+ <joint name="Joint7_R" type="revolute">
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+ <origin xyz="0 0 0" rpy="1.5708 -1.5708 0" />
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+ <parent link="Link6_R" />
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+ <child link="Link7_R" />
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+ <axis xyz="0 0 1" />
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+ <limit lower="-1.5708" upper="1.5708" effort="18" velocity="3.1416" />
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+ </joint>
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+ <joint name="Base_Mount_to_Base_L" type="fixed">
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+ <origin xyz="-0.12 0.037 0" rpy="1.5708 -1.5708 -3.1415926" />
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+ <parent link="Base_Mount" />
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+ <child link="Base_L" />
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+ </joint>
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+ <link name="Base_L">
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+ <inertial>
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+ <origin xyz="0.00032267 4.798E-05 0.04066353" rpy="0 0 0" />
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+ <mass value="1.1962" />
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+ <inertia ixx="0.00107329" ixy="-1.68E-06" ixz="-1.05E-05" iyy="0.00107003" iyz="-3.43E-06" izz="0.00127315" />
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+ </inertial>
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+ <visual>
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+ <origin xyz="0 0 0.087" rpy="0 0 0" />
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+ <geometry>
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+ <cylinder radius="0.04" length="0.175" />
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+ </geometry>
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+ </visual>
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+ </link>
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+ <link name="Link1_L">
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+ <inertial>
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+ <origin xyz="0.00002347 0.00557150 -0.03075998" rpy="0 0 0" />
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+ <mass value="1.9705" />
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+ <inertia ixx="0.00492293" ixy="0.00000550" ixz="0.00000193" iyy="0.00526513" iyz="0.00033232" izz="0.00188107" />
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+ </inertial>
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+ <visual>
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <geometry>
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+ <cylinder radius="0.04" length="0.08" />
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+ </geometry>
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+ </visual>
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+ </link>
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+ <link name="Link2_L">
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+ <inertial>
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+ <origin xyz="0.00013483 0.06170460 0.00950639" rpy="0 0 0" />
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+ <mass value="2.24398" />
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+ <inertia ixx="0.01194933" ixy="0.00000336" ixz="0.00000091" iyy="0.00361581" iyz="-0.00132804" izz="0.01098356" />
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+ </inertial>
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+ <visual>
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+ <origin xyz="0 0.1435 0" rpy="1.5708 0 0" />
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+ <geometry>
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+ <cylinder radius="0.04" length="0.287" />
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+ </geometry>
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+ </visual>
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+ </link>
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+ <link name="Link3_L">
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+ <inertial>
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+ <origin xyz="0.00968562 0.00246599 -0.04627302" rpy="0 0 0" />
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+ <mass value="1.9242" />
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+ <inertia ixx="0.00718224" ixy="0.00004413" ixz="0.00089552" iyy="0.00762563" iyz="0.00022096" izz="0.00178597" />
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+ </inertial>
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+ <visual>
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <geometry>
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+ <cylinder radius="0.04" length="0.06" />
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+ </geometry>
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+ </visual>
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+ </link>
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+ <link name="Link4_L">
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+ <inertial>
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+ <origin xyz="0.00850411 -0.04718223 0.00941509" rpy="0 0 0" />
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+ <mass value="1.6085" />
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+ <inertia ixx="0.00580480" ixy="-0.00066669" ixz="-0.00012722" iyy="0.00223807" iyz="0.00070523" izz="0.00533060" />
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+ </inertial>
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+ <visual>
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+ <origin xyz="0 -0.157 0" rpy="1.5708 0 0" />
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+ <geometry>
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+ <cylinder radius="0.04" length="0.314" />
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+ </geometry>
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+ </visual>
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+ </link>
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+ <link name="Link5_L">
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+ <inertial>
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+ <origin xyz="0.00051127 0.00101064 -0.11271739" rpy="0 0 0" />
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+ <mass value="2.0883" />
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+ <inertia ixx="0.00626603" ixy="0.00004009" ixz="0.00005338" iyy="0.00564387" iyz="-0.00006193" izz="0.00243632" />
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+ </inertial>
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+ <origin xyz="0 0 0.06" rpy="0 0 0" />
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+ <geometry>
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+ <cylinder radius="0.035" length="0.12" />
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+ </geometry>
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+ </visual>
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+ </link>
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+ <link name="Link6_L">
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+ <inertial>
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+ <origin xyz="0.00032659 0.00531336 -0.00030182" rpy="0 0 0" />
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+ <mass value="0.72496" />
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+ <inertia ixx="0.00046040" ixy="0.00000189" ixz="0.00000083" iyy="0.00051716" iyz="-0.00000346" izz="0.00042521" />
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+ </inertial>
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+ <visual>
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <geometry>
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+ <cylinder radius="0.035" length="0.05" />
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+ </geometry>
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+ </visual>
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+ </link>
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+ <link name="Link7_L">
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+ <inertial>
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+ <origin xyz="-0.00009108 -0.03153255 0.00889371" rpy="0 0 0" />
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+ <mass value="0.68606" />
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+ <inertia ixx="0.00173687" ixy="-0.00000345" ixz="-0.00000116" iyy="0.00089035" iyz="0.00030680" izz="0.00139406" />
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+ </inertial>
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+ <visual>
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+ <origin xyz="0 -0.0475 0" rpy="1.5708 0 0" />
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+ <geometry>
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+ <cylinder radius="0.035" length="0.095" />
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+ </geometry>
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+ </visual>
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+ </link>
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+ <joint name="Joint1_L" type="revolute">
296
+ <origin xyz="0 0 0.1745" rpy="0 0 0" />
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+ <parent link="Base_L" />
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+ <child link="Link1_L" />
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+ <axis xyz="0 0 1" />
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+ <limit lower="-3.1067" upper="3.1067" effort="108" velocity="3.1416" />
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+ </joint>
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+ <joint name="Joint2_L" type="revolute">
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+ <origin xyz="0 0 0" rpy="1.5708 0 0" />
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+ <parent link="Link1_L" />
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+ <child link="Link2_L" />
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+ <axis xyz="0 0 1" />
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+ <limit lower="-2.0944" upper="2.0944" effort="108" velocity="3.1416" />
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+ </joint>
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+ <joint name="Joint3_L" type="revolute">
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+ <origin xyz="0 0.287 0" rpy="-1.5708 0 0" />
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+ <parent link="Link2_L" />
312
+ <child link="Link3_L" />
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+ <axis xyz="0 0 1" />
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+ <limit lower="-3.1067" upper="3.1067" effort="66" velocity="3.1416" />
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+ </joint>
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+ <joint name="Joint4_L" type="revolute">
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+ <origin xyz="0.018 0 0" rpy="-1.5708 0 3.1416" />
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+ <parent link="Link3_L" />
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+ <child link="Link4_L" />
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+ <axis xyz="0 0 1" />
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+ <limit lower="-2.5307" upper="1.0472" effort="66" velocity="3.1416" />
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+ </joint>
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+ <joint name="Joint5_L" type="revolute">
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+ <origin xyz="0.018 -0.314 0" rpy="-1.5708 0 3.1416" />
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+ <parent link="Link4_L" />
326
+ <child link="Link5_L" />
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+ <axis xyz="0 0 1" />
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+ <limit lower="-3.1067" upper="3.1067" effort="18" velocity="3.1416" />
329
+ </joint>
330
+ <joint name="Joint6_L" type="revolute">
331
+ <origin xyz="0 0 0" rpy="1.5708 -1.5708 0" />
332
+ <parent link="Link5_L" />
333
+ <child link="Link6_L" />
334
+ <axis xyz="0 0 1" />
335
+ <limit lower="-1.0472" upper="1.0472" effort="18" velocity="3.1416" />
336
+ </joint>
337
+ <joint name="Joint7_L" type="revolute">
338
+ <origin xyz="0 0 0" rpy="1.5708 -1.5708 0" />
339
+ <parent link="Link6_L" />
340
+ <child link="Link7_L" />
341
+ <axis xyz="0 0 1" />
342
+ <limit lower="-1.5708" upper="1.5708" effort="18" velocity="3.1416" />
343
+ </joint>
344
+ <link name="Custom_Adapter_R">
345
+ <visual>
346
+ <origin xyz="0 0 0" rpy="0 0 0" />
347
+ <geometry>
348
+ <cylinder radius="0.02" length="0.05" />
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+ </geometry>
350
+ </visual>
351
+ <inertial>
352
+ <origin xyz="0 -0.0025 -0.01463" rpy="0 0 0" />
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+ <mass value="0.077" />
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+ <inertia ixx="0.00003320913" ixy="0" ixz="0" iyy="0.000035888" iyz="0.000001678" izz="0.000032068" />
355
+ </inertial>
356
+ </link>
357
+ <link name="CA_Offset_Link_R" />
358
+ <joint name="Custom_Adapter_Mounting_Offset_R" type="fixed">
359
+ <parent link="CA_Offset_Link_R" />
360
+ <child link="Custom_Adapter_R" />
361
+ <origin xyz="-0.002 0 0" rpy="0 0 0" />
362
+ </joint>
363
+ <joint name="Link7_to_Custom_Adapter_R" type="fixed">
364
+ <parent link="Link7_R" />
365
+ <child link="CA_Offset_Link_R" />
366
+ <origin xyz="0 -0.095 0" rpy="1.5708 0 -1.5708" />
367
+ </joint>
368
+ <link name="Dummy_Link_R" />
369
+ <joint name="Custom_Adapter_to_Dummy_Link_R" type="fixed">
370
+ <parent link="Custom_Adapter_R" />
371
+ <child link="Dummy_Link_R" />
372
+ <origin xyz="0.0368866 0 -0.0151166" rpy="0 2.35619449 0" />
373
+ </joint>
374
+ <link name="Pika_Gripper_Base_R">
375
+ <visual>
376
+ <origin xyz="0 0 0.092" rpy="0 0 0" />
377
+ <geometry>
378
+ <cylinder radius="0.03" length="0.185" />
379
+ </geometry>
380
+ </visual>
381
+ <inertial>
382
+ <origin xyz="0 0 0.04" rpy="0 0 0" />
383
+ <mass value="0.92" />
384
+ <inertia ixx="0.000499038" ixy="0" ixz="0" iyy="0.000499038" iyz="0" izz="0.000402876" />
385
+ </inertial>
386
+ </link>
387
+ <joint name="Dummy_Link_to_Pika_Base_R" type="fixed">
388
+ <parent link="Dummy_Link_R" />
389
+ <child link="Pika_Gripper_Base_R" />
390
+ <origin xyz="0 0 0" rpy="0 0 1.5708" />
391
+ </joint>
392
+ <link name="Link8_R">
393
+ <visual>
394
+ <origin xyz="0 0 0.035" rpy="0 0 0" />
395
+ <geometry>
396
+ <cylinder radius="0.012" length="0.07" />
397
+ </geometry>
398
+ </visual>
399
+ <inertial>
400
+ <origin xyz="-0.03 0.026 0.021" rpy="0 0 0" />
401
+ <mass value="0.044" />
402
+ <inertia ixx="0.000018164" ixy="0.000012927" ixz="0" iyy="0.000027803" iyz="0" izz="0.000034835" />
403
+ </inertial>
404
+ </link>
405
+ <joint name="Joint8_R" type="prismatic">
406
+ <parent link="Pika_Gripper_Base_R" />
407
+ <child link="Link8_R" />
408
+ <origin xyz="0 -0.02 0.08" rpy="0 1.5708 1.5708" />
409
+ <axis xyz="0 1 0" />
410
+ <limit lower="0" upper="0.05" effort="10" velocity="1" />
411
+ </joint>
412
+ <link name="Link9_R">
413
+ <visual>
414
+ <origin xyz="0 0 0.035" rpy="0 0 0" />
415
+ <geometry>
416
+ <cylinder radius="0.012" length="0.07" />
417
+ </geometry>
418
+ </visual>
419
+ <inertial>
420
+ <origin xyz="-0.03 0.026 0.021" rpy="0 0 0" />
421
+ <mass value="0.044" />
422
+ <inertia ixx="0.000018164" ixy="0.000012927" ixz="0" iyy="0.000027803" iyz="0" izz="0.000034835" />
423
+ </inertial>
424
+ </link>
425
+ <joint name="Joint9_R" type="prismatic">
426
+ <parent link="Pika_Gripper_Base_R" />
427
+ <child link="Link9_R" />
428
+ <origin xyz="0 0.022 0.08" rpy="0 1.5708 -1.5708" />
429
+ <axis xyz="0 1 0" />
430
+ <limit lower="0" upper="0.05" effort="10" velocity="1" />
431
+ </joint>
432
+ <link name="Gripper_Tip_R" />
433
+ <joint name="Pika_Gripper_Base_to_Gripper_Tip_R" type="fixed">
434
+ <parent link="Pika_Gripper_Base_R" />
435
+ <child link="Gripper_Tip_R" />
436
+ <origin xyz="0 0 0.1845" rpy="0 0 0" />
437
+ </joint>
438
+ <link name="Custom_Adapter_L">
439
+ <visual>
440
+ <origin xyz="0 0 0" rpy="0 0 0" />
441
+ <geometry>
442
+ <cylinder radius="0.02" length="0.05" />
443
+ </geometry>
444
+ </visual>
445
+ <inertial>
446
+ <origin xyz="0 -0.0025 -0.01463" rpy="0 0 0" />
447
+ <mass value="0.077" />
448
+ <inertia ixx="0.00003320913" ixy="0" ixz="0" iyy="0.000035888" iyz="0.000001678" izz="0.000032068" />
449
+ </inertial>
450
+ </link>
451
+ <link name="CA_Offset_Link_L" />
452
+ <joint name="Custom_Adapter_Mounting_Offset_L" type="fixed">
453
+ <parent link="CA_Offset_Link_L" />
454
+ <child link="Custom_Adapter_L" />
455
+ <origin xyz="-0.002 0 0" rpy="0 0 0" />
456
+ </joint>
457
+ <joint name="Link7_to_Custom_Adapter_L" type="fixed">
458
+ <parent link="Link7_L" />
459
+ <child link="CA_Offset_Link_L" />
460
+ <origin xyz="0 -0.095 0" rpy="-1.5708 0 -1.5708" />
461
+ </joint>
462
+ <link name="Dummy_Link_L" />
463
+ <joint name="Custom_Adapter_to_Dummy_Link_L" type="fixed">
464
+ <parent link="Custom_Adapter_L" />
465
+ <child link="Dummy_Link_L" />
466
+ <origin xyz="0.0368866 0 -0.0151166" rpy="0 2.35619449 0" />
467
+ </joint>
468
+ <link name="Pika_Gripper_Base_L">
469
+ <visual>
470
+ <origin xyz="0 0 0.092" rpy="0 0 0" />
471
+ <geometry>
472
+ <cylinder radius="0.03" length="0.185" />
473
+ </geometry>
474
+ </visual>
475
+ <inertial>
476
+ <origin xyz="0 0 0.04" rpy="0 0 0" />
477
+ <mass value="0.92" />
478
+ <inertia ixx="0.000499038" ixy="0" ixz="0" iyy="0.000499038" iyz="0" izz="0.000402876" />
479
+ </inertial>
480
+ </link>
481
+ <joint name="Dummy_Link_to_Pika_Base_L" type="fixed">
482
+ <parent link="Dummy_Link_L" />
483
+ <child link="Pika_Gripper_Base_L" />
484
+ <origin xyz="0 0 0" rpy="0 0 1.5708" />
485
+ </joint>
486
+ <link name="Link8_L">
487
+ <visual>
488
+ <origin xyz="0 0 0.035" rpy="0 0 0" />
489
+ <geometry>
490
+ <cylinder radius="0.012" length="0.07" />
491
+ </geometry>
492
+ </visual>
493
+ <inertial>
494
+ <origin xyz="-0.03 0.026 0.021" rpy="0 0 0" />
495
+ <mass value="0.044" />
496
+ <inertia ixx="0.000018164" ixy="0.000012927" ixz="0" iyy="0.000027803" iyz="0" izz="0.000034835" />
497
+ </inertial>
498
+ </link>
499
+ <joint name="Joint8_L" type="prismatic">
500
+ <parent link="Pika_Gripper_Base_L" />
501
+ <child link="Link8_L" />
502
+ <origin xyz="0 -0.02 0.08" rpy="0 1.5708 1.5708" />
503
+ <axis xyz="0 1 0" />
504
+ <limit lower="0" upper="0.05" effort="10" velocity="1" />
505
+ </joint>
506
+ <link name="Link9_L">
507
+ <visual>
508
+ <origin xyz="0 0 0.035" rpy="0 0 0" />
509
+ <geometry>
510
+ <cylinder radius="0.012" length="0.07" />
511
+ </geometry>
512
+ </visual>
513
+ <inertial>
514
+ <origin xyz="-0.03 0.026 0.021" rpy="0 0 0" />
515
+ <mass value="0.044" />
516
+ <inertia ixx="0.000018164" ixy="0.000012927" ixz="0" iyy="0.000027803" iyz="0" izz="0.000034835" />
517
+ </inertial>
518
+ </link>
519
+ <joint name="Joint9_L" type="prismatic">
520
+ <parent link="Pika_Gripper_Base_L" />
521
+ <child link="Link9_L" />
522
+ <origin xyz="0 0.022 0.08" rpy="0 1.5708 -1.5708" />
523
+ <axis xyz="0 1 0" />
524
+ <limit lower="0" upper="0.05" effort="10" velocity="1" />
525
+ </joint>
526
+ <link name="Gripper_Tip_L" />
527
+ <joint name="Pika_Gripper_Base_to_Gripper_Tip_L" type="fixed">
528
+ <parent link="Pika_Gripper_Base_L" />
529
+ <child link="Gripper_Tip_L" />
530
+ <origin xyz="0 0 0.1845" rpy="0 0 0" />
531
+ </joint>
532
+ </robot>
dual_arms_primitives.urdf ADDED
@@ -0,0 +1,526 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version='1.0' encoding='utf-8'?>
2
+ <robot name="Tianji Bimanual urdf">
3
+ <link name="world" />
4
+ <link name="Base_Mount">
5
+ <inertial>
6
+ <origin xyz="-0.12 0 0" rpy="0 0 0" />
7
+ <mass value="2.0" />
8
+ <inertia ixx="0.05" ixy="0" ixz="0" iyy="0.05" iyz="0" izz="0.05" />
9
+ </inertial>
10
+ <visual>
11
+ <origin xyz="-0.12 0 0" rpy="1.5708 0 0" />
12
+ <geometry>
13
+ <cylinder radius="0.04" length="0.10" />
14
+ </geometry>
15
+ </visual>
16
+ </link>
17
+ <joint name="world_to_Base_Mount" type="fixed">
18
+ <origin xyz="0 0 0" rpy="0 1.5708 0" />
19
+ <parent link="world" />
20
+ <child link="Base_Mount" />
21
+ </joint>
22
+ <joint name="Base_R_to_Base_Mount" type="fixed">
23
+ <origin xyz="-0.12 -0.037 0" rpy="1.5708 -1.5708 0" />
24
+ <parent link="Base_Mount" />
25
+ <child link="Base_R" />
26
+ </joint>
27
+ <link name="Base_R">
28
+ <inertial>
29
+ <origin xyz="0.00032267 4.798E-05 0.04066353" rpy="0 0 0" />
30
+ <mass value="1.1962" />
31
+ <inertia ixx="0.00107329" ixy="-1.68E-06" ixz="-1.05E-05" iyy="0.00107003" iyz="-3.43E-06" izz="0.00127315" />
32
+ </inertial>
33
+ <visual>
34
+ <origin xyz="0 0 0.087" rpy="0 0 0" />
35
+ <geometry>
36
+ <cylinder radius="0.04" length="0.175" />
37
+ </geometry>
38
+ </visual>
39
+ </link>
40
+ <link name="Link1_R">
41
+ <inertial>
42
+ <origin xyz="0.00002347 0.00557150 -0.03075998" rpy="0 0 0" />
43
+ <mass value="1.9705" />
44
+ <inertia ixx="0.00492293" ixy="0.00000550" ixz="0.00000193" iyy="0.00526513" iyz="0.00033232" izz="0.00188107" />
45
+ </inertial>
46
+ <visual>
47
+ <origin xyz="0 0 0" rpy="0 0 0" />
48
+ <geometry>
49
+ <cylinder radius="0.04" length="0.08" />
50
+ </geometry>
51
+ </visual>
52
+ </link>
53
+ <link name="Link2_R">
54
+ <inertial>
55
+ <origin xyz="0.00013483 0.06170460 0.00950639" rpy="0 0 0" />
56
+ <mass value="2.24398" />
57
+ <inertia ixx="0.01194933" ixy="0.00000336" ixz="0.00000091" iyy="0.00361581" iyz="-0.00132804" izz="0.01098356" />
58
+ </inertial>
59
+ <visual>
60
+ <origin xyz="0 0.1435 0" rpy="1.5708 0 0" />
61
+ <geometry>
62
+ <cylinder radius="0.04" length="0.287" />
63
+ </geometry>
64
+ </visual>
65
+ </link>
66
+ <link name="Link3_R">
67
+ <inertial>
68
+ <origin xyz="0.00968562 0.00246599 -0.04627302" rpy="0 0 0" />
69
+ <mass value="1.9242" />
70
+ <inertia ixx="0.00718224" ixy="0.00004413" ixz="0.00089552" iyy="0.00762563" iyz="0.00022096" izz="0.00178597" />
71
+ </inertial>
72
+ <visual>
73
+ <origin xyz="0 0 0" rpy="0 0 0" />
74
+ <geometry>
75
+ <cylinder radius="0.04" length="0.06" />
76
+ </geometry>
77
+ </visual>
78
+ </link>
79
+ <link name="Link4_R">
80
+ <inertial>
81
+ <origin xyz="0.00850411 -0.04718223 0.00941509" rpy="0 0 0" />
82
+ <mass value="1.6085" />
83
+ <inertia ixx="0.00580480" ixy="-0.00066669" ixz="-0.00012722" iyy="0.00223807" iyz="0.00070523" izz="0.00533060" />
84
+ </inertial>
85
+ <visual>
86
+ <origin xyz="0 -0.157 0" rpy="1.5708 0 0" />
87
+ <geometry>
88
+ <cylinder radius="0.04" length="0.314" />
89
+ </geometry>
90
+ </visual>
91
+ </link>
92
+ <link name="Link5_R">
93
+ <inertial>
94
+ <origin xyz="-0.00051127 -0.00101064 -0.11271739" rpy="0 0 0" />
95
+ <mass value="2.0883" />
96
+ <inertia ixx="0.00626603" ixy="0.00004009" ixz="-0.00005338" iyy="0.00564387" iyz="0.00006193" izz="0.00243632" />
97
+ </inertial>
98
+ <visual>
99
+ <origin xyz="0 0 0.06" rpy="0 0 0" />
100
+ <geometry>
101
+ <cylinder radius="0.035" length="0.12" />
102
+ </geometry>
103
+ </visual>
104
+ </link>
105
+ <link name="Link6_R">
106
+ <inertial>
107
+ <origin xyz="0.00032659 -0.00531336 0.00030182" rpy="0 0 0" />
108
+ <mass value="0.72496" />
109
+ <inertia ixx="0.00046040" ixy="-0.00000189" ixz="-0.00000083" iyy="0.00051716" iyz="-0.00000346" izz="0.00042521" />
110
+ </inertial>
111
+ <visual>
112
+ <origin xyz="0 0 0" rpy="0 0 0" />
113
+ <geometry>
114
+ <cylinder radius="0.035" length="0.05" />
115
+ </geometry>
116
+ </visual>
117
+ </link>
118
+ <link name="Link7_R">
119
+ <inertial>
120
+ <origin xyz="-0.00009108 -0.03153255 0.00889371" rpy="0 0 0" />
121
+ <mass value="0.68606" />
122
+ <inertia ixx="0.00173687" ixy="-0.00000345" ixz="-0.00000116" iyy="0.00089035" iyz="0.00030680" izz="0.00139406" />
123
+ </inertial>
124
+ <visual>
125
+ <origin xyz="0 -0.0475 0" rpy="1.5708 0 0" />
126
+ <geometry>
127
+ <cylinder radius="0.035" length="0.095" />
128
+ </geometry>
129
+ </visual>
130
+ </link>
131
+ <joint name="Joint1_R" type="revolute">
132
+ <origin xyz="0 0 0.1745" rpy="0 0 0" />
133
+ <parent link="Base_R" />
134
+ <child link="Link1_R" />
135
+ <axis xyz="0 0 1" />
136
+ <limit lower="-3.1067" upper="3.1067" effort="108" velocity="3.1416" />
137
+ </joint>
138
+ <joint name="Joint2_R" type="revolute">
139
+ <origin xyz="0 0 0" rpy="1.5708 0 0" />
140
+ <parent link="Link1_R" />
141
+ <child link="Link2_R" />
142
+ <axis xyz="0 0 1" />
143
+ <limit lower="-2.0944" upper="2.0944" effort="108" velocity="3.1416" />
144
+ </joint>
145
+ <joint name="Joint3_R" type="revolute">
146
+ <origin xyz="0 0.287 0" rpy="-1.5708 0 0" />
147
+ <parent link="Link2_R" />
148
+ <child link="Link3_R" />
149
+ <axis xyz="0 0 1" />
150
+ <limit lower="-3.1067" upper="3.1067" effort="66" velocity="3.1416" />
151
+ </joint>
152
+ <joint name="Joint4_R" type="revolute">
153
+ <origin xyz="0.018 0 0" rpy="-1.5708 0 3.1416" />
154
+ <parent link="Link3_R" />
155
+ <child link="Link4_R" />
156
+ <axis xyz="0 0 1" />
157
+ <limit lower="-2.5307" upper="1.0472" effort="66" velocity="3.1416" />
158
+ </joint>
159
+ <joint name="Joint5_R" type="revolute">
160
+ <origin xyz="0.018 -0.314 0" rpy="-1.5708 0 3.1416" />
161
+ <parent link="Link4_R" />
162
+ <child link="Link5_R" />
163
+ <axis xyz="0 0 1" />
164
+ <limit lower="-3.1067" upper="3.1067" effort="18" velocity="3.1416" />
165
+ </joint>
166
+ <joint name="Joint6_R" type="revolute">
167
+ <origin xyz="0 0 0" rpy="1.5708 -1.5708 0" />
168
+ <parent link="Link5_R" />
169
+ <child link="Link6_R" />
170
+ <axis xyz="0 0 1" />
171
+ <limit lower="-1.0472" upper="1.0472" effort="18" velocity="3.1416" />
172
+ </joint>
173
+ <joint name="Joint7_R" type="revolute">
174
+ <origin xyz="0 0 0" rpy="1.5708 -1.5708 0" />
175
+ <parent link="Link6_R" />
176
+ <child link="Link7_R" />
177
+ <axis xyz="0 0 1" />
178
+ <limit lower="-1.5708" upper="1.5708" effort="18" velocity="3.1416" />
179
+ </joint>
180
+ <joint name="Base_Mount_to_Base_L" type="fixed">
181
+ <origin xyz="-0.12 0.037 0" rpy="1.5708 -1.5708 -3.1415926" />
182
+ <parent link="Base_Mount" />
183
+ <child link="Base_L" />
184
+ </joint>
185
+ <link name="Base_L">
186
+ <inertial>
187
+ <origin xyz="0.00032267 4.798E-05 0.04066353" rpy="0 0 0" />
188
+ <mass value="1.1962" />
189
+ <inertia ixx="0.00107329" ixy="-1.68E-06" ixz="-1.05E-05" iyy="0.00107003" iyz="-3.43E-06" izz="0.00127315" />
190
+ </inertial>
191
+ <visual>
192
+ <origin xyz="0 0 0.087" rpy="0 0 0" />
193
+ <geometry>
194
+ <cylinder radius="0.04" length="0.175" />
195
+ </geometry>
196
+ </visual>
197
+ </link>
198
+ <link name="Link1_L">
199
+ <inertial>
200
+ <origin xyz="0.00002347 0.00557150 -0.03075998" rpy="0 0 0" />
201
+ <mass value="1.9705" />
202
+ <inertia ixx="0.00492293" ixy="0.00000550" ixz="0.00000193" iyy="0.00526513" iyz="0.00033232" izz="0.00188107" />
203
+ </inertial>
204
+ <visual>
205
+ <origin xyz="0 0 0" rpy="0 0 0" />
206
+ <geometry>
207
+ <cylinder radius="0.04" length="0.08" />
208
+ </geometry>
209
+ </visual>
210
+ </link>
211
+ <link name="Link2_L">
212
+ <inertial>
213
+ <origin xyz="0.00013483 0.06170460 0.00950639" rpy="0 0 0" />
214
+ <mass value="2.24398" />
215
+ <inertia ixx="0.01194933" ixy="0.00000336" ixz="0.00000091" iyy="0.00361581" iyz="-0.00132804" izz="0.01098356" />
216
+ </inertial>
217
+ <visual>
218
+ <origin xyz="0 0.1435 0" rpy="1.5708 0 0" />
219
+ <geometry>
220
+ <cylinder radius="0.04" length="0.287" />
221
+ </geometry>
222
+ </visual>
223
+ </link>
224
+ <link name="Link3_L">
225
+ <inertial>
226
+ <origin xyz="0.00968562 0.00246599 -0.04627302" rpy="0 0 0" />
227
+ <mass value="1.9242" />
228
+ <inertia ixx="0.00718224" ixy="0.00004413" ixz="0.00089552" iyy="0.00762563" iyz="0.00022096" izz="0.00178597" />
229
+ </inertial>
230
+ <visual>
231
+ <origin xyz="0 0 0" rpy="0 0 0" />
232
+ <geometry>
233
+ <cylinder radius="0.04" length="0.06" />
234
+ </geometry>
235
+ </visual>
236
+ </link>
237
+ <link name="Link4_L">
238
+ <inertial>
239
+ <origin xyz="0.00850411 -0.04718223 0.00941509" rpy="0 0 0" />
240
+ <mass value="1.6085" />
241
+ <inertia ixx="0.00580480" ixy="-0.00066669" ixz="-0.00012722" iyy="0.00223807" iyz="0.00070523" izz="0.00533060" />
242
+ </inertial>
243
+ <visual>
244
+ <origin xyz="0 -0.157 0" rpy="1.5708 0 0" />
245
+ <geometry>
246
+ <cylinder radius="0.04" length="0.314" />
247
+ </geometry>
248
+ </visual>
249
+ </link>
250
+ <link name="Link5_L">
251
+ <inertial>
252
+ <origin xyz="0.00051127 0.00101064 -0.11271739" rpy="0 0 0" />
253
+ <mass value="2.0883" />
254
+ <inertia ixx="0.00626603" ixy="0.00004009" ixz="0.00005338" iyy="0.00564387" iyz="-0.00006193" izz="0.00243632" />
255
+ </inertial>
256
+ <visual>
257
+ <origin xyz="0 0 0.06" rpy="0 0 0" />
258
+ <geometry>
259
+ <cylinder radius="0.035" length="0.12" />
260
+ </geometry>
261
+ </visual>
262
+ </link>
263
+ <link name="Link6_L">
264
+ <inertial>
265
+ <origin xyz="0.00032659 0.00531336 -0.00030182" rpy="0 0 0" />
266
+ <mass value="0.72496" />
267
+ <inertia ixx="0.00046040" ixy="0.00000189" ixz="0.00000083" iyy="0.00051716" iyz="-0.00000346" izz="0.00042521" />
268
+ </inertial>
269
+ <visual>
270
+ <origin xyz="0 0 0" rpy="0 0 0" />
271
+ <geometry>
272
+ <cylinder radius="0.035" length="0.05" />
273
+ </geometry>
274
+ </visual>
275
+ </link>
276
+ <link name="Link7_L">
277
+ <inertial>
278
+ <origin xyz="-0.00009108 -0.03153255 0.00889371" rpy="0 0 0" />
279
+ <mass value="0.68606" />
280
+ <inertia ixx="0.00173687" ixy="-0.00000345" ixz="-0.00000116" iyy="0.00089035" iyz="0.00030680" izz="0.00139406" />
281
+ </inertial>
282
+ <visual>
283
+ <origin xyz="0 -0.0475 0" rpy="1.5708 0 0" />
284
+ <geometry>
285
+ <cylinder radius="0.035" length="0.095" />
286
+ </geometry>
287
+ </visual>
288
+ </link>
289
+ <joint name="Joint1_L" type="revolute">
290
+ <origin xyz="0 0 0.1745" rpy="0 0 0" />
291
+ <parent link="Base_L" />
292
+ <child link="Link1_L" />
293
+ <axis xyz="0 0 1" />
294
+ <limit lower="-3.1067" upper="3.1067" effort="108" velocity="3.1416" />
295
+ </joint>
296
+ <joint name="Joint2_L" type="revolute">
297
+ <origin xyz="0 0 0" rpy="1.5708 0 0" />
298
+ <parent link="Link1_L" />
299
+ <child link="Link2_L" />
300
+ <axis xyz="0 0 1" />
301
+ <limit lower="-2.0944" upper="2.0944" effort="108" velocity="3.1416" />
302
+ </joint>
303
+ <joint name="Joint3_L" type="revolute">
304
+ <origin xyz="0 0.287 0" rpy="-1.5708 0 0" />
305
+ <parent link="Link2_L" />
306
+ <child link="Link3_L" />
307
+ <axis xyz="0 0 1" />
308
+ <limit lower="-3.1067" upper="3.1067" effort="66" velocity="3.1416" />
309
+ </joint>
310
+ <joint name="Joint4_L" type="revolute">
311
+ <origin xyz="0.018 0 0" rpy="-1.5708 0 3.1416" />
312
+ <parent link="Link3_L" />
313
+ <child link="Link4_L" />
314
+ <axis xyz="0 0 1" />
315
+ <limit lower="-2.5307" upper="1.0472" effort="66" velocity="3.1416" />
316
+ </joint>
317
+ <joint name="Joint5_L" type="revolute">
318
+ <origin xyz="0.018 -0.314 0" rpy="-1.5708 0 3.1416" />
319
+ <parent link="Link4_L" />
320
+ <child link="Link5_L" />
321
+ <axis xyz="0 0 1" />
322
+ <limit lower="-3.1067" upper="3.1067" effort="18" velocity="3.1416" />
323
+ </joint>
324
+ <joint name="Joint6_L" type="revolute">
325
+ <origin xyz="0 0 0" rpy="1.5708 -1.5708 0" />
326
+ <parent link="Link5_L" />
327
+ <child link="Link6_L" />
328
+ <axis xyz="0 0 1" />
329
+ <limit lower="-1.0472" upper="1.0472" effort="18" velocity="3.1416" />
330
+ </joint>
331
+ <joint name="Joint7_L" type="revolute">
332
+ <origin xyz="0 0 0" rpy="1.5708 -1.5708 0" />
333
+ <parent link="Link6_L" />
334
+ <child link="Link7_L" />
335
+ <axis xyz="0 0 1" />
336
+ <limit lower="-1.5708" upper="1.5708" effort="18" velocity="3.1416" />
337
+ </joint>
338
+ <link name="Custom_Adapter_R">
339
+ <visual>
340
+ <origin xyz="0 0 0" rpy="0 0 0" />
341
+ <geometry>
342
+ <cylinder radius="0.02" length="0.05" />
343
+ </geometry>
344
+ </visual>
345
+ <inertial>
346
+ <origin xyz="0 -0.0025 -0.01463" rpy="0 0 0" />
347
+ <mass value="0.077" />
348
+ <inertia ixx="0.00003320913" ixy="0" ixz="0" iyy="0.000035888" iyz="0.000001678" izz="0.000032068" />
349
+ </inertial>
350
+ </link>
351
+ <link name="CA_Offset_Link_R" />
352
+ <joint name="Custom_Adapter_Mounting_Offset_R" type="fixed">
353
+ <parent link="CA_Offset_Link_R" />
354
+ <child link="Custom_Adapter_R" />
355
+ <origin xyz="-0.002 0 0" rpy="0 0 0" />
356
+ </joint>
357
+ <joint name="Link7_to_Custom_Adapter_R" type="fixed">
358
+ <parent link="Link7_R" />
359
+ <child link="CA_Offset_Link_R" />
360
+ <origin xyz="0 -0.095 0" rpy="1.5708 0 -1.5708" />
361
+ </joint>
362
+ <link name="Dummy_Link_R" />
363
+ <joint name="Custom_Adapter_to_Dummy_Link_R" type="fixed">
364
+ <parent link="Custom_Adapter_R" />
365
+ <child link="Dummy_Link_R" />
366
+ <origin xyz="0.0368866 0 -0.0151166" rpy="0 2.35619449 0" />
367
+ </joint>
368
+ <link name="Pika_Gripper_Base_R">
369
+ <visual>
370
+ <origin xyz="0 0 0.092" rpy="0 0 0" />
371
+ <geometry>
372
+ <cylinder radius="0.03" length="0.185" />
373
+ </geometry>
374
+ </visual>
375
+ <inertial>
376
+ <origin xyz="0 0 0.04" rpy="0 0 0" />
377
+ <mass value="0.92" />
378
+ <inertia ixx="0.000499038" ixy="0" ixz="0" iyy="0.000499038" iyz="0" izz="0.000402876" />
379
+ </inertial>
380
+ </link>
381
+ <joint name="Dummy_Link_to_Pika_Base_R" type="fixed">
382
+ <parent link="Dummy_Link_R" />
383
+ <child link="Pika_Gripper_Base_R" />
384
+ <origin xyz="0 0 0" rpy="0 0 1.5708" />
385
+ </joint>
386
+ <link name="Link8_R">
387
+ <visual>
388
+ <origin xyz="0 0 0.035" rpy="0 0 0" />
389
+ <geometry>
390
+ <cylinder radius="0.012" length="0.07" />
391
+ </geometry>
392
+ </visual>
393
+ <inertial>
394
+ <origin xyz="-0.03 0.026 0.021" rpy="0 0 0" />
395
+ <mass value="0.044" />
396
+ <inertia ixx="0.000018164" ixy="0.000012927" ixz="0" iyy="0.000027803" iyz="0" izz="0.000034835" />
397
+ </inertial>
398
+ </link>
399
+ <joint name="Joint8_R" type="prismatic">
400
+ <parent link="Pika_Gripper_Base_R" />
401
+ <child link="Link8_R" />
402
+ <origin xyz="0 -0.02 0.08" rpy="0 1.5708 1.5708" />
403
+ <axis xyz="0 1 0" />
404
+ <limit lower="0" upper="0.05" effort="10" velocity="1" />
405
+ </joint>
406
+ <link name="Link9_R">
407
+ <visual>
408
+ <origin xyz="0 0 0.035" rpy="0 0 0" />
409
+ <geometry>
410
+ <cylinder radius="0.012" length="0.07" />
411
+ </geometry>
412
+ </visual>
413
+ <inertial>
414
+ <origin xyz="-0.03 0.026 0.021" rpy="0 0 0" />
415
+ <mass value="0.044" />
416
+ <inertia ixx="0.000018164" ixy="0.000012927" ixz="0" iyy="0.000027803" iyz="0" izz="0.000034835" />
417
+ </inertial>
418
+ </link>
419
+ <joint name="Joint9_R" type="prismatic">
420
+ <parent link="Pika_Gripper_Base_R" />
421
+ <child link="Link9_R" />
422
+ <origin xyz="0 0.022 0.08" rpy="0 1.5708 -1.5708" />
423
+ <axis xyz="0 1 0" />
424
+ <limit lower="0" upper="0.05" effort="10" velocity="1" />
425
+ </joint>
426
+ <link name="Gripper_Tip_R" />
427
+ <joint name="Pika_Gripper_Base_to_Gripper_Tip_R" type="fixed">
428
+ <parent link="Pika_Gripper_Base_R" />
429
+ <child link="Gripper_Tip_R" />
430
+ <origin xyz="0 0 0.1845" rpy="0 0 0" />
431
+ </joint>
432
+ <link name="Custom_Adapter_L">
433
+ <visual>
434
+ <origin xyz="0 0 0" rpy="0 0 0" />
435
+ <geometry>
436
+ <cylinder radius="0.02" length="0.05" />
437
+ </geometry>
438
+ </visual>
439
+ <inertial>
440
+ <origin xyz="0 -0.0025 -0.01463" rpy="0 0 0" />
441
+ <mass value="0.077" />
442
+ <inertia ixx="0.00003320913" ixy="0" ixz="0" iyy="0.000035888" iyz="0.000001678" izz="0.000032068" />
443
+ </inertial>
444
+ </link>
445
+ <link name="CA_Offset_Link_L" />
446
+ <joint name="Custom_Adapter_Mounting_Offset_L" type="fixed">
447
+ <parent link="CA_Offset_Link_L" />
448
+ <child link="Custom_Adapter_L" />
449
+ <origin xyz="-0.002 0 0" rpy="0 0 0" />
450
+ </joint>
451
+ <joint name="Link7_to_Custom_Adapter_L" type="fixed">
452
+ <parent link="Link7_L" />
453
+ <child link="CA_Offset_Link_L" />
454
+ <origin xyz="0 -0.095 0" rpy="-1.5708 0 -1.5708" />
455
+ </joint>
456
+ <link name="Dummy_Link_L" />
457
+ <joint name="Custom_Adapter_to_Dummy_Link_L" type="fixed">
458
+ <parent link="Custom_Adapter_L" />
459
+ <child link="Dummy_Link_L" />
460
+ <origin xyz="0.0368866 0 -0.0151166" rpy="0 2.35619449 0" />
461
+ </joint>
462
+ <link name="Pika_Gripper_Base_L">
463
+ <visual>
464
+ <origin xyz="0 0 0.092" rpy="0 0 0" />
465
+ <geometry>
466
+ <cylinder radius="0.03" length="0.185" />
467
+ </geometry>
468
+ </visual>
469
+ <inertial>
470
+ <origin xyz="0 0 0.04" rpy="0 0 0" />
471
+ <mass value="0.92" />
472
+ <inertia ixx="0.000499038" ixy="0" ixz="0" iyy="0.000499038" iyz="0" izz="0.000402876" />
473
+ </inertial>
474
+ </link>
475
+ <joint name="Dummy_Link_to_Pika_Base_L" type="fixed">
476
+ <parent link="Dummy_Link_L" />
477
+ <child link="Pika_Gripper_Base_L" />
478
+ <origin xyz="0 0 0" rpy="0 0 1.5708" />
479
+ </joint>
480
+ <link name="Link8_L">
481
+ <visual>
482
+ <origin xyz="0 0 0.035" rpy="0 0 0" />
483
+ <geometry>
484
+ <cylinder radius="0.012" length="0.07" />
485
+ </geometry>
486
+ </visual>
487
+ <inertial>
488
+ <origin xyz="-0.03 0.026 0.021" rpy="0 0 0" />
489
+ <mass value="0.044" />
490
+ <inertia ixx="0.000018164" ixy="0.000012927" ixz="0" iyy="0.000027803" iyz="0" izz="0.000034835" />
491
+ </inertial>
492
+ </link>
493
+ <joint name="Joint8_L" type="prismatic">
494
+ <parent link="Pika_Gripper_Base_L" />
495
+ <child link="Link8_L" />
496
+ <origin xyz="0 -0.02 0.08" rpy="0 1.5708 1.5708" />
497
+ <axis xyz="0 1 0" />
498
+ <limit lower="0" upper="0.05" effort="10" velocity="1" />
499
+ </joint>
500
+ <link name="Link9_L">
501
+ <visual>
502
+ <origin xyz="0 0 0.035" rpy="0 0 0" />
503
+ <geometry>
504
+ <cylinder radius="0.012" length="0.07" />
505
+ </geometry>
506
+ </visual>
507
+ <inertial>
508
+ <origin xyz="-0.03 0.026 0.021" rpy="0 0 0" />
509
+ <mass value="0.044" />
510
+ <inertia ixx="0.000018164" ixy="0.000012927" ixz="0" iyy="0.000027803" iyz="0" izz="0.000034835" />
511
+ </inertial>
512
+ </link>
513
+ <joint name="Joint9_L" type="prismatic">
514
+ <parent link="Pika_Gripper_Base_L" />
515
+ <child link="Link9_L" />
516
+ <origin xyz="0 0.022 0.08" rpy="0 1.5708 -1.5708" />
517
+ <axis xyz="0 1 0" />
518
+ <limit lower="0" upper="0.05" effort="10" velocity="1" />
519
+ </joint>
520
+ <link name="Gripper_Tip_L" />
521
+ <joint name="Pika_Gripper_Base_to_Gripper_Tip_L" type="fixed">
522
+ <parent link="Pika_Gripper_Base_L" />
523
+ <child link="Gripper_Tip_L" />
524
+ <origin xyz="0 0 0.1845" rpy="0 0 0" />
525
+ </joint>
526
+ </robot>