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Add scissor mesh files for dual_rm75 model

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YikaiFu-cart
2026-08-03 09:55:26 +08:00
parent 75eff40fa2
commit ba068b19a1
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xr_rm_teleop/models/dual_rm75/Dual_arm.urdf
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<?xml version='1.0' encoding='utf-8'?>
<robot name="rm75_dual_arm">
<!--Shared supporting base. Adjust the two mount joint origins to match the CAD mounting frames.-->
<link name="dual_arm_base_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/dual_arm_base.stl" scale="1 1 1" />
</geometry>
<material name="dual_arm_base_material">
<color rgba="0.5 0.5 0.5 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/dual_arm_base.stl" scale="1 1 1" />
</geometry>
</collision>
</link>
<link name="omnipic_base_link">
<inertial>
<origin xyz="0.00049987 5.2709E-05 0.060019" rpy="0 0 0" />
<mass value="1.862" />
<inertia ixx="0.0017232" ixy="-3.1058E-06" ixz="-3.7924E-05" iyy="0.0017051" iyz="1.3691E-06" izz="0.00090158" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/base_link.STL" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/base_link.STL" />
</geometry>
</collision>
</link>
<link name="omnipic_link_1">
<inertial>
<origin xyz="0.000241 -0.013273 -0.00995" rpy="0 0 0" />
<mass value="1.574" />
<inertia ixx="0.002487573" ixy="0.000009663" ixz="-0.000007909" iyy="0.002321038" iyz="0.000179393" izz="0.001450554" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/link_1.STL" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/link_1.STL" />
</geometry>
</collision>
</link>
<joint name="omnipic_joint_1" type="revolute">
<origin xyz="0 0 0.2405" rpy="0 0 0" />
<parent link="omnipic_base_link" />
<child link="omnipic_link_1" />
<axis xyz="0 0 1" />
<limit lower="-3.106" upper="3.106" effort="60" velocity="3.14" />
</joint>
<link name="omnipic_link_2">
<inertial>
<origin xyz="-0.000357 -0.106789 0.005329" rpy="0 0 0" />
<mass value="1.217" />
<inertia ixx="0.003494121" ixy="0.000002921" ixz="-0.000005613" iyy="0.000892721" iyz="-0.000583884" izz="0.003444080" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/link_2.STL" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/link_2.STL" />
</geometry>
</collision>
</link>
<joint name="omnipic_joint_2" type="revolute">
<origin xyz="0 0 0" rpy="-1.5708 0 0" />
<parent link="omnipic_link_1" />
<child link="omnipic_link_2" />
<axis xyz="0 0 1" />
<limit lower="-2.2689" upper="2.2689" effort="60" velocity="3.14" />
</joint>
<link name="omnipic_link_3">
<inertial>
<origin xyz="0.000003 -0.01398 -0.011324" rpy="0 0 0" />
<mass value="1.11" />
<inertia ixx="0.001836663" ixy="0.000002259" ixz="-0.000004216" iyy="0.001498875" iyz="0.000037167" izz="0.001062545" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/link_3.STL" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/link_3.STL" />
</geometry>
</collision>
</link>
<joint name="omnipic_joint_3" type="revolute">
<origin xyz="0 -0.256 0" rpy="1.5708 0 0" />
<parent link="omnipic_link_2" />
<child link="omnipic_link_3" />
<axis xyz="0 0 1" />
<limit lower="-3.106" upper="3.106" effort="30" velocity="3.14" />
</joint>
<link name="omnipic_link_4">
<inertial>
<origin xyz="-0.000005 -0.084658 0.004747" rpy="0 0 0" />
<mass value="0.685" />
<inertia ixx="0.001282444" ixy="-0.000000551" ixz="-0.000000630" iyy="0.000373013" iyz="-0.000232084" izz="0.001256177" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/link_4.STL" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/link_4.STL" />
</geometry>
</collision>
</link>
<joint name="omnipic_joint_4" type="revolute">
<origin xyz="0 0 0" rpy="-1.5708 0 0" />
<parent link="omnipic_link_3" />
<child link="omnipic_link_4" />
<axis xyz="0 0 1" />
<limit lower="-2.356" upper="2.356" effort="30" velocity="3.14" />
</joint>
<link name="omnipic_link_5">
<inertial>
<origin xyz="0.000078 -0.012937 -0.008781" rpy="0 0 0" />
<mass value="0.619" />
<inertia ixx="0.000627336" ixy="0.000001636" ixz="-0.000001345" iyy="0.000542455" iyz="0.000034970" izz="0.000370291" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/link_5.STL" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/link_5.STL" />
</geometry>
</collision>
</link>
<joint name="omnipic_joint_5" type="revolute">
<origin xyz="0 -0.21 0" rpy="1.5708 0 0" />
<parent link="omnipic_link_4" />
<child link="omnipic_link_5" />
<axis xyz="0 0 1" />
<limit lower="-3.106" upper="3.106" effort="10" velocity="3.14" />
</joint>
<link name="omnipic_link_6">
<inertial>
<origin xyz="-0.000014 -0.078524 0.002819" rpy="0 0 0" />
<mass value="0.602" />
<inertia ixx="0.000780774" ixy="-0.000000121" ixz="-0.000000469" iyy="0.000289973" iyz="-0.000120513" izz="0.000763955" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/link_6.STL" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/link_6.STL" />
</geometry>
</collision>
</link>
<joint name="omnipic_joint_6" type="revolute">
<origin xyz="0 0 0" rpy="-1.5708 0 0" />
<parent link="omnipic_link_5" />
<child link="omnipic_link_6" />
<axis xyz="0 0 1" />
<limit lower="-2.234" upper="2.234" effort="10" velocity="3.14" />
</joint>
<link name="omnipic_link_7">
<inertial>
<origin xyz="0.001094 -0.000077 -0.010119" rpy="0 0 0" />
<mass value="0.107" />
<inertia ixx="0.000044123" ixy="-0.000000064" ixz="0.0000003" iyy="0.000035078" iyz="-0.000000029" izz="0.000065445" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/link_7.STL" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/link_7.STL" />
</geometry>
</collision>
</link>
<joint name="omnipic_joint_7" type="revolute">
<origin xyz="0 -0.144 0" rpy="1.5708 0 0" />
<parent link="omnipic_link_6" />
<child link="omnipic_link_7" />
<axis xyz="0 0 1" />
<limit lower="-6.28" upper="6.28" effort="10" velocity="3.14" />
</joint>
<link name="omnipic_gripper_link">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="0.1" />
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/OmniPic.stl" scale="1 1 1" />
</geometry>
<material name="omnipic_OmniPic_material">
<color rgba="0.7 0.7 0.7 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/OmniPic.stl" scale="1 1 1" />
</geometry>
</collision>
</link>
<joint name="omnipic_OmniPic_fixed_joint" type="fixed">
<parent link="omnipic_link_7" />
<child link="omnipic_gripper_link" />
<origin xyz="0 0 0" rpy="0 0 0" />
</joint>
<link name="omnipic_OmniPic_tcp" />
<joint name="omnipic_OmniPic_tcp_fixed" type="fixed">
<parent link="omnipic_gripper_link" />
<child link="omnipic_OmniPic_tcp" />
<origin xyz="0 0 0.14" rpy="0 0 0" />
</joint>
<!--Omnipic arm mount (physical right): edit xyz/rpy to match dual_arm_base.stl.-->
<joint name="omnipic_base_mount_joint" type="fixed">
<parent link="dual_arm_base_link" />
<child link="omnipic_base_link" />
<origin xyz="0.03 0 0" rpy="3.1416 -1.5708 0" />
</joint>
<link name="scissor_base_link">
<inertial>
<origin xyz="0.00049987 5.2709E-05 0.060019" rpy="0 0 0" />
<mass value="1.862" />
<inertia ixx="0.0017232" ixy="-3.1058E-06" ixz="-3.7924E-05" iyy="0.0017051" iyz="1.3691E-06" izz="0.00090158" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/base_link.STL" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/base_link.STL" />
</geometry>
</collision>
</link>
<link name="scissor_link_1">
<inertial>
<origin xyz="0.000241 -0.013273 -0.00995" rpy="0 0 0" />
<mass value="1.574" />
<inertia ixx="0.002487573" ixy="0.000009663" ixz="-0.000007909" iyy="0.002321038" iyz="0.000179393" izz="0.001450554" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/link_1.STL" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/link_1.STL" />
</geometry>
</collision>
</link>
<joint name="scissor_joint_1" type="revolute">
<origin xyz="0 0 0.2405" rpy="0 0 0" />
<parent link="scissor_base_link" />
<child link="scissor_link_1" />
<axis xyz="0 0 1" />
<limit lower="-3.106" upper="3.106" effort="60" velocity="3.14" />
</joint>
<link name="scissor_link_2">
<inertial>
<origin xyz="-0.000357 -0.106789 0.005329" rpy="0 0 0" />
<mass value="1.217" />
<inertia ixx="0.003494121" ixy="0.000002921" ixz="-0.000005613" iyy="0.000892721" iyz="-0.000583884" izz="0.003444080" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/link_2.STL" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/link_2.STL" />
</geometry>
</collision>
</link>
<joint name="scissor_joint_2" type="revolute">
<origin xyz="0 0 0" rpy="-1.5708 0 0" />
<parent link="scissor_link_1" />
<child link="scissor_link_2" />
<axis xyz="0 0 1" />
<limit lower="-2.2689" upper="2.2689" effort="60" velocity="3.14" />
</joint>
<link name="scissor_link_3">
<inertial>
<origin xyz="0.000003 -0.01398 -0.011324" rpy="0 0 0" />
<mass value="1.11" />
<inertia ixx="0.001836663" ixy="0.000002259" ixz="-0.000004216" iyy="0.001498875" iyz="0.000037167" izz="0.001062545" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/link_3.STL" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/link_3.STL" />
</geometry>
</collision>
</link>
<joint name="scissor_joint_3" type="revolute">
<origin xyz="0 -0.256 0" rpy="1.5708 0 0" />
<parent link="scissor_link_2" />
<child link="scissor_link_3" />
<axis xyz="0 0 1" />
<limit lower="-3.106" upper="3.106" effort="30" velocity="3.14" />
</joint>
<link name="scissor_link_4">
<inertial>
<origin xyz="-0.000005 -0.084658 0.004747" rpy="0 0 0" />
<mass value="0.685" />
<inertia ixx="0.001282444" ixy="-0.000000551" ixz="-0.000000630" iyy="0.000373013" iyz="-0.000232084" izz="0.001256177" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/link_4.STL" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/link_4.STL" />
</geometry>
</collision>
</link>
<joint name="scissor_joint_4" type="revolute">
<origin xyz="0 0 0" rpy="-1.5708 0 0" />
<parent link="scissor_link_3" />
<child link="scissor_link_4" />
<axis xyz="0 0 1" />
<limit lower="-2.356" upper="2.356" effort="30" velocity="3.14" />
</joint>
<link name="scissor_link_5">
<inertial>
<origin xyz="0.000078 -0.012937 -0.008781" rpy="0 0 0" />
<mass value="0.619" />
<inertia ixx="0.000627336" ixy="0.000001636" ixz="-0.000001345" iyy="0.000542455" iyz="0.000034970" izz="0.000370291" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/link_5.STL" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/link_5.STL" />
</geometry>
</collision>
</link>
<joint name="scissor_joint_5" type="revolute">
<origin xyz="0 -0.21 0" rpy="1.5708 0 0" />
<parent link="scissor_link_4" />
<child link="scissor_link_5" />
<axis xyz="0 0 1" />
<limit lower="-3.106" upper="3.106" effort="10" velocity="3.14" />
</joint>
<link name="scissor_link_6">
<inertial>
<origin xyz="-0.000014 -0.078524 0.002819" rpy="0 0 0" />
<mass value="0.602" />
<inertia ixx="0.000780774" ixy="-0.000000121" ixz="-0.000000469" iyy="0.000289973" iyz="-0.000120513" izz="0.000763955" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/link_6.STL" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/link_6.STL" />
</geometry>
</collision>
</link>
<joint name="scissor_joint_6" type="revolute">
<origin xyz="0 0 0" rpy="-1.5708 0 0" />
<parent link="scissor_link_5" />
<child link="scissor_link_6" />
<axis xyz="0 0 1" />
<limit lower="-2.234" upper="2.234" effort="10" velocity="3.14" />
</joint>
<link name="scissor_link_7">
<inertial>
<origin xyz="0.001094 -0.000077 -0.010119" rpy="0 0 0" />
<mass value="0.107" />
<inertia ixx="0.000044123" ixy="-0.000000064" ixz="0.0000003" iyy="0.000035078" iyz="-0.000000029" izz="0.000065445" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/link_7.STL" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/link_7.STL" />
</geometry>
</collision>
</link>
<joint name="scissor_joint_7" type="revolute">
<origin xyz="0 -0.144 0" rpy="1.5708 0 0" />
<parent link="scissor_link_6" />
<child link="scissor_link_7" />
<axis xyz="0 0 1" />
<limit lower="-6.28" upper="6.28" effort="10" velocity="3.14" />
</joint>
<link name="scissor_scissor_link">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="0.1" />
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/scissor.stl" scale="1 1 1" />
</geometry>
<material name="scissor_scissor_material">
<color rgba="0.7 0.7 0.7 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/scissor.stl" scale="1 1 1" />
</geometry>
</collision>
</link>
<joint name="scissor_scissor_fixed_joint" type="fixed">
<parent link="scissor_link_7" />
<child link="scissor_scissor_link" />
<origin xyz="0 0 0.165" rpy="0 0 0" />
</joint>
<link name="scissor_scissor_tcp" />
<joint name="scissor_scissor_tcp_fixed" type="fixed">
<parent link="scissor_scissor_link" />
<child link="scissor_scissor_tcp" />
<origin xyz="0 0 0" rpy="0 0 0" />
</joint>
<link name="scissor_camera_tcp" />
<joint name="scissor_camera_tcp_fixed" type="fixed">
<parent link="scissor_scissor_link" />
<child link="scissor_camera_tcp" />
<origin xyz="0.042 0 -0.0755" rpy="0 0 1.57" />
</joint>
<!--Scissor arm mount (physical left): edit xyz/rpy to match dual_arm_base.stl.-->
<joint name="scissor_base_mount_joint" type="fixed">
<parent link="dual_arm_base_link" />
<child link="scissor_base_link" />
<origin xyz="-0.030 0 0" rpy="-3.1416 1.5708 0" />
</joint>
</robot>