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Updated the URDF file for the Aloha wx250s #216

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Updated the URDF file for the Aloha wx250s #216

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a0feb11
Updated the URDF file for the Aloha wx250s
Shiming-Liang Sep 4, 2024
765e9e0
Update the URDF file for Aloha ws250s again
Shiming-Liang Sep 4, 2024
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174 changes: 104 additions & 70 deletions interbotix_ros_xsarms/interbotix_xsarm_descriptions/urdf/aloha_wx250s.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@
<xacro:arg name="base_link_frame" default="base_link"/>
<xacro:arg name="use_gripper" default="true"/>
<xacro:arg name="show_ar_tag" default="false"/>
<xacro:arg name="show_handle" default="true"/>
<xacro:arg name="show_gripper_bar" default="true"/>
<xacro:arg name="show_gripper_fingers" default="true"/>
<xacro:arg name="use_world_frame" default="false"/>
Expand Down Expand Up @@ -210,16 +211,16 @@
</collision>
<inertial>
<origin
rpy="0 0 ${pi/2}"
xyz="0.0171605000 0.0000002725 0.1913230000"/>
<mass value="0.430811"/>
rpy="0 0 0"
xyz="0.0153860000 0.0000000000 0.1851100000"/>
<mass value="0.4897150000"/>
<inertia
ixx="0.0034630000"
iyy="0.0035870000"
izz="0.0004566000"
ixy="-0.0000000001"
ixz="-0.0000000002"
iyz="0.0004272000"/>
ixx="0.0043745412"
iyy="0.0042527386"
izz="0.0004827537"
ixy="0.0000000002"
ixz="-0.0004799594"
iyz="-0.0000000015"/>
</inertial>
</link>

Expand Down Expand Up @@ -267,15 +268,15 @@
<inertial>
<origin
rpy="0 0 0"
xyz="0.1079630000 0.0001158760 0"/>
<mass value="0.234589"/>
xyz="0.0835970000 0.0000000000 0.0000000000"/>
<mass value="0.2072900000"/>
<inertia
ixx="0.0000397100"
iyy="0.0008878000"
izz="0.0008880000"
ixy="0.0000023528"
ixz="0"
iyz="0"/>
ixx="0.0000279716"
iyy="0.0007756088"
izz="0.0007799547"
ixy="-0.0000000002"
ixz="0.0000000002"
iyz="-0.0000000008"/>
</inertial>
</link>

Expand Down Expand Up @@ -322,16 +323,16 @@
</collision>
<inertial>
<origin
rpy="${pi} 0 0"
xyz="0.0374395000 0.0052225200 0"/>
<mass value="0.220991"/>
rpy="0 0 0"
xyz="0.0335820000 0.0047260000 0.0000000000"/>
<mass value="0.2529240000"/>
<inertia
ixx="0.0000636900"
iyy="0.0001677000"
izz="0.0001834000"
ixy="-0.0000229200"
ixz="0"
iyz="0"/>
ixx="0.0000741889"
iyy="0.0002100083"
izz="0.0002256883"
ixy="0.0000194025"
ixz="0.0000000000"
iyz="0.0000000004"/>
</inertial>
</link>

Expand Down Expand Up @@ -378,16 +379,16 @@
</collision>
<inertial>
<origin
rpy="0 0 ${pi/2}"
xyz="0.0423600000 -0.0000106630 0.0105770000"/>
<mass value="0.084957"/>
rpy="0 0 0"
xyz="0.0484000000 0.0000020000 0.0081230000"/>
<mass value="0.1560520000"/>
<inertia
ixx="0.0000308200"
iyy="0.0000282200"
izz="0.0000315200"
ixy="0.0000000191"
ixz="0.0000000023"
iyz="0.0000025481"/>
ixx="0.0000551559"
iyy="0.0000691991"
izz="0.0000656414"
ixy="0.0000000002"
ixz="0.0000037652"
iyz="-0.0000000042"/>
</inertial>
</link>

Expand Down Expand Up @@ -438,19 +439,52 @@
</collision>
<inertial>
<origin
rpy="0 0 ${pi/2}"
xyz="0.0216310000 0.0000002516 0.0114100000"/>
<mass value="0.072885"/>
rpy="0 0 0"
xyz="0.0194110000 0.0000000000 0.0050100000"/>
<mass value="0.1030950000"/>
<inertia
ixx="0.0000253700"
iyy="0.0000183600"
izz="0.0000167400"
ixy="0.0000000000"
ixz="0.0000000000"
iyz="0.0000004340"/>
ixx="0.0000324528"
iyy="0.0000357525"
izz="0.0000270800"
ixy="-0.0000000001"
ixz="-0.0000023449"
iyz="0.0000000000"/>
</inertial>
</link>

<!-- If the handle is being used, then add the handle -->

<xacro:if value="$(arg show_handle)">

<joint name="gripper_handle" type="fixed">
<axis xyz="1 0 0"/>
<origin
rpy="0 0 0"
xyz="0 0 0"/>
<parent
link="$(arg robot_name)/gripper_link"/>
<child
link="$(arg robot_name)/handle_link"/>
</joint>

<link name="$(arg robot_name)/handle_link">
<inertial>
<origin
rpy="0 0 0"
xyz="0.0076300000 0.0000000000 -0.0357390000"/>
<mass value="0.0622240000"/>
<inertia
ixx="0.0001321742"
iyy="0.0001309199"
izz="0.0000139779"
ixy="-0.0000000003"
ixz="-0.0000199732"
iyz="-0.0000000001"/>
</inertial>
</link>

</xacro:if> <!-- show_handle -->

<joint name="ee_arm" type="fixed">
<axis xyz="1 0 0"/>
<origin
Expand Down Expand Up @@ -574,16 +608,16 @@
</collision>
<inertial>
<origin
rpy="0 0 ${pi/2}"
xyz="0.0096870000 0.0000008177 0.0049620000"/>
<mass value="0.034199"/>
rpy="0 0 0"
xyz="0.0117450000 0.0000000000 0.0018310000"/>
<mass value="0.1335040000"/>
<inertia
ixx="0.0000074125"
iyy="0.0000284300"
izz="0.0000286000"
ixy="-0.0000000008"
ixz="-0.0000000006"
iyz="-0.0000013889"/>
ixx="0.0002705379"
iyy="0.0000371885"
izz="0.0002579847"
ixy="0.0000000015"
ixz="0.0000026430"
iyz="0.0000000000"/>
</inertial>
</link>

Expand Down Expand Up @@ -658,16 +692,16 @@
</collision>
<inertial>
<origin
rpy="${pi} ${pi} ${pi/2}"
xyz="0.0138160000 0.0000000000 0.0000000000"/>
<mass value="0.016246"/>
rpy="0 0 0"
xyz="0.0042060000 0.0100000000 -0.0080300000"/>
<mass value="0.0405260000"/>
<inertia
ixx="0.0000047310"
iyy="0.0000015506"
izz="0.0000037467"
ixy="-0.0000004560"
ixz="0.0000000000"
iyz="0.0000000000"/>
ixx="0.0000164667"
iyy="0.0000169266"
izz="0.0000038108"
ixy="-0.0000006813"
ixz="0.0000001193"
iyz="-0.0000001691"/>
</inertial>
</link>

Expand Down Expand Up @@ -720,16 +754,16 @@
</collision>
<inertial>
<origin
rpy="0 ${pi} ${pi/2}"
xyz="0.0138160000 0.0000000000 0.0000000000"/>
<mass value="0.016246"/>
rpy="0 0 0"
xyz="0.0039690000 -0.0100000000 -0.0065280000"/>
<mass value="0.0409950000"/>
<inertia
ixx="0.0000047310"
ixx="0.0000175327"
iyy="0.0000015506"
izz="0.0000037467"
ixy="0.0000004560"
ixz="0.0000000000"
iyz="0.0000000000"/>
izz="0.0000181304"
ixy="0.0000039562"
ixz="0.0000005777"
iyz="-0.0000006879"/>
</inertial>
</link>

Expand Down
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