878 lines
24 KiB
XML
878 lines
24 KiB
XML
<?xml version="1.0" ?>
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<robot name="panda" xmlns:xacro="http://www.ros.org/wiki/xacro">
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<link name="base_link"/>
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<joint name="panda_fixed" type="fixed">
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<origin rpy="0 0 0.0" xyz="0 0 0.0"/>
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<parent link="base_link"/>
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<child link="panda_link0"/>
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<axis xyz="0 0 0"/>
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</joint>
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<link name="panda_link0">
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<visual>
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<geometry>
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<mesh filename="meshes/visual/link0.dae"/>
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</geometry>
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</visual>
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<collision>
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<geometry>
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<mesh filename="meshes/collision/link0.obj"/>
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</geometry>
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</collision>
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</link>
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<link name="panda_link1">
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<visual>
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<geometry>
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<mesh filename="meshes/visual/link1.dae"/>
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</geometry>
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</visual>
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<collision>
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<geometry>
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<mesh filename="meshes/collision/link1.obj"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0.00033 -0.02204 -0.04762"/>
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<mass value="2.797"/>
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<inertia ixx="0.0156" ixy="0.0" ixz="0.0" iyy="0.01439" iyz="-0.0024" izz="0.005"/>
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</inertial>
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</link>
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<joint name="panda_joint1" type="revolute">
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<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
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<origin rpy="0 0 0" xyz="0 0 0.333"/>
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<parent link="panda_link0"/>
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<child link="panda_link1"/>
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<axis xyz="0 0 1"/>
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<dynamics damping="10.0"/>
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<limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
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</joint>
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<link name="panda_link2">
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<visual>
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<geometry>
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<mesh filename="meshes/visual/link2.dae"/>
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</geometry>
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</visual>
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<collision>
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<geometry>
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<mesh filename="meshes/collision/link2.obj"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0.00038 -0.09211 0.01908"/>
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<mass value="2.542"/>
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<inertia ixx="0.0166" ixy="0.0" ixz="0.0" iyy="0.0046" iyz="0.0035" izz="0.015"/>
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</inertial>
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</link>
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<joint name="panda_joint2" type="revolute">
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<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"/>
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<origin rpy="-1.57079632679 0 0" xyz="0 0 0"/>
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<parent link="panda_link1"/>
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<child link="panda_link2"/>
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<axis xyz="0 0 1"/>
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<dynamics damping="10.0"/>
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<limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750"/>
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</joint>
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<link name="panda_link3">
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<visual>
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<geometry>
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<mesh filename="meshes/visual/link3.dae"/>
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</geometry>
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</visual>
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<collision>
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<geometry>
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<mesh filename="meshes/collision/link3.obj"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0.05152 0.01696 -0.02971"/>
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<mass value="2.2513"/>
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<inertia ixx="0.006" ixy="0.009" ixz="0.003" iyy="0.0086" iyz="0.009" izz="0.0065"/>
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</inertial>
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</link>
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<joint name="panda_joint3" type="revolute">
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<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
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<origin rpy="1.57079632679 0 0" xyz="0 -0.316 0"/>
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<parent link="panda_link2"/>
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<child link="panda_link3"/>
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<axis xyz="0 0 1"/>
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<dynamics damping="10.0"/>
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<limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
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</joint>
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<link name="panda_link4">
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<visual>
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<geometry>
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<mesh filename="meshes/visual/link4.dae"/>
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</geometry>
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</visual>
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<collision>
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<geometry>
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<mesh filename="meshes/collision/link4.obj"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="-0.05113 0.05825 0.01698"/>
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<mass value="2.2037"/>
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<inertia ixx="0.0156" ixy="0.0" ixz="0.0" iyy="0.01439" iyz="-0.0024" izz="0.005"/>
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</inertial>
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</link>
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<joint name="panda_joint4" type="revolute">
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<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698"/>
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<origin rpy="1.57079632679 0 0" xyz="0.0825 0 0"/>
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<parent link="panda_link3"/>
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<child link="panda_link4"/>
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<axis xyz="0 0 1"/>
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<dynamics damping="10.0"/>
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<limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750"/>
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<!-- something is weird with this joint limit config
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<dynamics damping="10.0"/>
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<limit effort="87" lower="-3.0" upper="0.087" velocity="2.1750"/> -->
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</joint>
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<link name="panda_link5">
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<visual>
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<geometry>
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<mesh filename="meshes/visual/link5.dae"/>
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</geometry>
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</visual>
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<collision>
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<geometry>
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<mesh filename="meshes/collision/link5.obj"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="-0.00005 0.03730 -0.09280"/>
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<mass value="2.2855"/>
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<inertia ixx="0.02297014781" ixy="0.0" ixz="0.0" iyy="0.02095060919" iyz="0.00382345782" izz="0.00430606551"/>
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</inertial>
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</link>
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<joint name="panda_joint5" type="revolute">
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<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
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<origin rpy="-1.57079632679 0 0" xyz="-0.0825 0.384 0"/>
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<parent link="panda_link4"/>
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<child link="panda_link5"/>
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<axis xyz="0 0 1"/>
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<dynamics damping="10.0"/>
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<limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
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</joint>
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<link name="panda_link6">
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<visual>
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<geometry>
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<mesh filename="meshes/visual/link6.dae"/>
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</geometry>
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</visual>
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<collision>
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<geometry>
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<mesh filename="meshes/collision/link6.obj"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0.06572 -0.00371 0.00153"/>
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<mass value="1.353"/>
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<inertia ixx="0.00087964522" ixy="-0.00021487814" ixz="-0.00011911662" iyy="0.00277796968" iyz="0.00001274322" izz="0.00286701969"/>
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</inertial>
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</link>
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<joint name="panda_joint6" type="revolute">
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<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"/>
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<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
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<parent link="panda_link5"/>
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<child link="panda_link6"/>
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<axis xyz="0 0 1"/>
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<dynamics damping="10.0"/>
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<limit effort="12" lower="-0.0175" upper="3.7525" velocity="2.6100"/>
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<!-- <dynamics damping="10.0"/>
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<limit effort="12" lower="-0.0873" upper="3.0" velocity="2.6100"/> -->
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</joint>
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<link name="panda_link7">
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<visual>
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<geometry>
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<mesh filename="meshes/visual/link7.dae"/>
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</geometry>
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</visual>
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<collision>
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<geometry>
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<mesh filename="meshes/collision/link7.obj"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0.00089 -0.00044 0.05491"/>
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<mass value="0.35973"/>
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<inertia ixx="0.00019541063" ixy="0.00000165231" ixz="0.00000148826" iyy="0.00019210361" iyz="-0.00000131132" izz="0.00017936256"/>
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</inertial>
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</link>
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<joint name="panda_joint7" type="revolute">
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<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
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<origin rpy="1.57079632679 0 0" xyz="0.088 0 0"/>
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<parent link="panda_link6"/>
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<child link="panda_link7"/>
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<axis xyz="0 0 1"/>
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<dynamics damping="10.0"/>
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<limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
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</joint>
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<link name="panda_link8"/>
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<joint name="panda_joint8" type="fixed">
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<origin rpy="0 0 0" xyz="0 0 0.107"/>
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<parent link="panda_link7"/>
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<child link="panda_link8"/>
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<axis xyz="0 0 0"/>
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</joint>
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<joint name="panda_hand_joint" type="fixed">
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<parent link="panda_link8"/>
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<child link="right_base_link"/>
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<origin rpy="0 0 0.785398163397" xyz="0 0 0"/>
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</joint>
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<link
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name="right_base_link">
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<inertial>
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<origin
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xyz="1.23989288637867E-06 3.27564415436087E-07 0.0536186975993762"
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rpy="0 0 0" />
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<mass
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value="0.443105756928829" />
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<inertia
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ixx="0.00064200574020552"
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ixy="-1.51180224931458E-07"
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ixz="7.24174172220287E-09"
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iyy="0.00066998312004943"
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iyz="2.73584170951165E-09"
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izz="0.000278949393571484" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://meshes/crt_120s/base_link.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://meshes/crt_120s/base_link.STL" />
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</geometry>
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</collision>
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</link>
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<link
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name="right_Left_01_Link">
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<inertial>
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<origin
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xyz="0.00656387870913618 0.024850259757102 -9.40817030196858E-10"
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rpy="0 0 0" />
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<mass
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value="0.0112899386472626" />
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<inertia
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ixx="1.96944973967669E-06"
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ixy="6.42395813223716E-07"
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ixz="-1.07950451056367E-14"
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iyy="1.39704780795747E-06"
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iyz="-1.48209813327181E-14"
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izz="2.47457179553145E-06" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://meshes/crt_120s/Left_01_Link.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://meshes/crt_120s/Left_01_Link.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="right_Left_1_Joint"
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type="revolute">
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<origin
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xyz="-0.032553 0 0.10644"
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rpy="1.5708 0 3.1416" />
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<parent
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link="right_base_link" />
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<child
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link="right_Left_01_Link" />
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<axis
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xyz="0 0 -1" />
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<limit
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lower="0"
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upper="1"
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effort="2"
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velocity="1000" />
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</joint>
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<link
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name="right_Left_00_Link">
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<inertial>
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<origin
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xyz="0.00656387870913618 0.024850259757102 -9.40817030196858E-10"
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rpy="0 0 0" />
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<mass
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value="0.0112899386472626" />
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<inertia
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ixx="1.96944973967669E-06"
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ixy="6.42395813223716E-07"
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ixz="-1.07950451056367E-14"
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iyy="1.39704780795747E-06"
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iyz="-1.48209813327181E-14"
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izz="2.47457179553145E-06" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://meshes/crt_120s/Left_00_Link.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://meshes/crt_120s/Left_00_Link.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="right_Left_0_Joint"
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type="revolute">
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<origin
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xyz="0.01946 0.0129 0"
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rpy="0 0 0" />
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<parent
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link="right_Left_01_Link" />
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<child
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link="right_Left_00_Link" />
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<axis
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xyz="0 0 -1" />
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<limit
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lower="0"
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upper="1"
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effort="2"
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velocity="1000" />
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</joint>
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<link
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name="right_Left_Support_Link">
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<inertial>
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<origin
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xyz="-0.011970095332009 0.0238338043684485 -1.36624428992904E-06"
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rpy="0 0 0" />
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<mass
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value="0.0140092102116716" />
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<inertia
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ixx="4.13674978137002E-06"
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ixy="9.81573398608352E-07"
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ixz="-2.87921970465553E-11"
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iyy="1.1362453186293E-06"
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iyz="2.94726072168702E-11"
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izz="4.10226218364235E-06" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://meshes/crt_120s/Left_Support_Link.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://meshes/crt_120s/Left_Support_Link.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="right_Left_Support_Joint"
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type="revolute">
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<origin
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xyz="-0.02888 0.04341 0"
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rpy="0 0 0" />
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<parent
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link="right_Left_00_Link" />
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<child
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link="right_Left_Support_Link" />
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<axis
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xyz="0 0 1" />
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<limit
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lower="-1"
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upper="1"
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effort="10"
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velocity="10" />
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</joint>
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<link
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name="right_Left_Pad_Link">
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<inertial>
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<origin
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xyz="1.46688816627348E-09 0.00209017783344978 -8.17280129359337E-17"
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rpy="0 0 0" />
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<mass
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value="0.00332411394949541" />
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<inertia
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ixx="5.5867126170785E-07"
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ixy="2.9966962370347E-20"
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ixz="1.44978830317617E-23"
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iyy="1.45407135182096E-07"
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iyz="-1.60867378777053E-21"
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izz="4.18250297449997E-07" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://meshes/crt_120s/Left_Pad_Link.STL" />
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</geometry>
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<material
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name="">
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<color
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|
rgba="0.384313725490196 0.384313725490196 0.384313725490196 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://meshes/crt_120s/Left_Pad_Link.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="right_Left_Pad_Joint"
|
|
type="fixed">
|
|
<origin
|
|
xyz="-0.022056 0.044306 0"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="right_Left_Support_Link" />
|
|
<child
|
|
link="right_Left_Pad_Link" />
|
|
<axis
|
|
xyz="0 0 0" />
|
|
</joint>
|
|
<link
|
|
name="right_Left_2_Link">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.00438952959966343 0.0248815722409523 -2.55135883071891E-05"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.00803955821311802" />
|
|
<inertia
|
|
ixx="1.15079028835042E-06"
|
|
ixy="1.13853775681911E-07"
|
|
ixz="-1.79492796413463E-10"
|
|
iyy="4.68655200337902E-07"
|
|
iyz="-4.49903912976825E-10"
|
|
izz="8.47367915692972E-07" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://meshes/crt_120s/Left_2_Link.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://meshes/crt_120s/Left_2_Link.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="right_Left_2_Joint"
|
|
type="revolute">
|
|
<origin
|
|
xyz="-0.017 0 0.122"
|
|
rpy="1.5708 0 3.1416" />
|
|
<parent
|
|
link="right_base_link" />
|
|
<child
|
|
link="right_Left_2_Link" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="-1"
|
|
upper="1"
|
|
effort="10"
|
|
velocity="10" />
|
|
</joint>
|
|
<link
|
|
name="right_Right_2_Link">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.00438952959968201 0.0248815722409522 -2.5513588307359E-05"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.00803955821311803" />
|
|
<inertia
|
|
ixx="1.15079028835042E-06"
|
|
ixy="1.13853775681912E-07"
|
|
ixz="-1.79492796413511E-10"
|
|
iyy="4.68655200337903E-07"
|
|
iyz="-4.49903912976901E-10"
|
|
izz="8.47367915692974E-07" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://meshes/crt_120s/Right_2_Link.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://meshes/crt_120s/Right_2_Link.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="right_Right_2_Joint"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0.017 0 0.122"
|
|
rpy="1.5708 0 0" />
|
|
<parent
|
|
link="right_base_link" />
|
|
<child
|
|
link="right_Right_2_Link" />
|
|
<axis
|
|
xyz="0 0 1" />
|
|
<limit
|
|
lower="-1"
|
|
upper="1"
|
|
effort="10"
|
|
velocity="10" />
|
|
</joint>
|
|
<link
|
|
name="right_Right_01_Link">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.00656387870564603 0.0248502597572661 -9.40812230336897E-10"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.0112899386472626" />
|
|
<inertia
|
|
ixx="1.96944973967663E-06"
|
|
ixy="6.42395813223747E-07"
|
|
ixz="-1.07950449101923E-14"
|
|
iyy="1.39704780795753E-06"
|
|
iyz="-1.48209815851649E-14"
|
|
izz="2.47457179553146E-06" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://meshes/crt_120s/Right_01_Link.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://meshes/crt_120s/Right_01_Link.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="right_Right_1_Joint"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0.032553 0 0.10644"
|
|
rpy="1.5708 0 0" />
|
|
<parent
|
|
link="right_base_link" />
|
|
<child
|
|
link="right_Right_01_Link" />
|
|
<axis
|
|
xyz="0 0 1" />
|
|
<limit
|
|
lower="-1"
|
|
upper="1"
|
|
effort="10"
|
|
velocity="10" />
|
|
</joint>
|
|
|
|
<link
|
|
name="right_Right_00_Link">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.00656387870564603 0.0248502597572661 -9.40812230336897E-10"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.0112899386472626" />
|
|
<inertia
|
|
ixx="1.96944973967663E-06"
|
|
ixy="6.42395813223747E-07"
|
|
ixz="-1.07950449101923E-14"
|
|
iyy="1.39704780795753E-06"
|
|
iyz="-1.48209815851649E-14"
|
|
izz="2.47457179553146E-06" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://meshes/crt_120s/Right_00_Link.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://meshes/crt_120s/Right_00_Link.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint
|
|
name="right_Right_0_Joint"
|
|
type="revolute">
|
|
|
|
<origin
|
|
xyz="0.01946 0.0129 0"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="right_Right_01_Link" />
|
|
<child
|
|
link="right_Right_00_Link" />
|
|
<axis
|
|
xyz="0 0 1" />
|
|
<limit
|
|
lower="-1"
|
|
upper="1"
|
|
effort="10"
|
|
velocity="10" />
|
|
</joint>
|
|
|
|
<link
|
|
name="right_Right_Support_Link">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.011970095112324 0.0238338043682057 -1.36624428997256E-06"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.0140092102116716" />
|
|
<inertia
|
|
ixx="4.13674978136988E-06"
|
|
ixy="9.81573398608576E-07"
|
|
ixz="-2.87921970465403E-11"
|
|
iyy="1.13624531862944E-06"
|
|
iyz="2.94726072165632E-11"
|
|
izz="4.10226218364236E-06" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://meshes/crt_120s/Right_Support_Link.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://meshes/crt_120s/Right_Support_Link.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="right_Right_Support_Joint"
|
|
type="revolute">
|
|
<origin
|
|
xyz="-0.02888 0.04341 0"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="right_Right_00_Link" />
|
|
<child
|
|
link="right_Right_Support_Link" />
|
|
<axis
|
|
xyz="0 0 1" />
|
|
<limit
|
|
lower="-1"
|
|
upper="1"
|
|
effort="10"
|
|
velocity="10" />
|
|
</joint>
|
|
<link
|
|
name="right_Right_Pad_Link">
|
|
<inertial>
|
|
<origin
|
|
xyz="5.43457184440897E-09 0.00209017783344967 -1.21646039264426E-16"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.00332411394949542" />
|
|
<inertia
|
|
ixx="5.58671261707851E-07"
|
|
ixy="3.06066210315894E-20"
|
|
ixz="1.70379713307979E-23"
|
|
iyy="1.45407135182096E-07"
|
|
iyz="-1.65096420438087E-21"
|
|
izz="4.18250297449998E-07" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://meshes/crt_120s/Right_Pad_Link.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.384313725490196 0.384313725490196 0.384313725490196 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://meshes/crt_120s/Right_Pad_Link.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="right_Right_Pad_Joint"
|
|
type="fixed">
|
|
<origin
|
|
xyz="-0.022056 0.044306 0"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="right_Right_Support_Link" />
|
|
<child
|
|
link="right_Right_Pad_Link" />
|
|
<axis
|
|
xyz="0 0 0" />
|
|
</joint>
|
|
|
|
|
|
|
|
|
|
<link name="ee_link"/>
|
|
|
|
<joint name="ee_fixed_joint" type="fixed">
|
|
<parent link="right_base_link"/>
|
|
<child link="ee_link"/>
|
|
<origin rpy="0 0.0 -1.57079632679" xyz="0.0 0. 0.225"/>
|
|
</joint>
|
|
<link name="right_gripper">
|
|
<inertial>
|
|
<!-- Dummy inertial parameters to avoid link lumping-->
|
|
<mass value="0.01"/>
|
|
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="right_gripper" type="fixed">
|
|
<!--<origin rpy="0 0 2.35619449019" xyz="0 0 0.1"/>-->
|
|
<origin rpy="0 0 2.35619449019" xyz="0 0 0.207"/>
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="panda_link7"/>
|
|
<!--<parent link="panda_link8"/>-->
|
|
<child link="right_gripper"/>
|
|
</joint>
|
|
|
|
|
|
</robot>
|
|
|
|
|