release repository
This commit is contained in:
Balakumar Sundaralingam
@@ -0,0 +1,279 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="panda" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<link name="base_link"/>
|
||||
<joint name="panda_fixed" type="fixed">
|
||||
<origin rpy="0 0 0.0" xyz="0 0 0.0"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="panda_link0"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="panda_link0">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link0.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link0.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="panda_link1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link1.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link1.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_joint1" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.333"/>
|
||||
<parent link="panda_link0"/>
|
||||
<child link="panda_link1"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
|
||||
</joint>
|
||||
<link name="panda_link2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link2.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link2.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_joint2" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"/>
|
||||
<origin rpy="-1.57079632679 0 0" xyz="0 0 0"/>
|
||||
<parent link="panda_link1"/>
|
||||
<child link="panda_link2"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750"/>
|
||||
</joint>
|
||||
<link name="panda_link3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link3.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link3.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_joint3" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 -0.316 0"/>
|
||||
<parent link="panda_link2"/>
|
||||
<child link="panda_link3"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
|
||||
</joint>
|
||||
<link name="panda_link4">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link4.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link4.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_joint4" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0.0825 0 0"/>
|
||||
<parent link="panda_link3"/>
|
||||
<child link="panda_link4"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750"/>
|
||||
<!-- something is weird with this joint limit config
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="87" lower="-3.0" upper="0.087" velocity="2.1750"/> -->
|
||||
</joint>
|
||||
<link name="panda_link5">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link5.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link5.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_joint5" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
|
||||
<origin rpy="-1.57079632679 0 0" xyz="-0.0825 0.384 0"/>
|
||||
<parent link="panda_link4"/>
|
||||
<child link="panda_link5"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
|
||||
</joint>
|
||||
<link name="panda_link6">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link6.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link6.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_joint6" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||
<parent link="panda_link5"/>
|
||||
<child link="panda_link6"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="12" lower="-0.0175" upper="3.7525" velocity="2.6100"/>
|
||||
<!-- <dynamics damping="10.0"/>
|
||||
<limit effort="12" lower="-0.0873" upper="3.0" velocity="2.6100"/> -->
|
||||
</joint>
|
||||
<link name="panda_link7">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link7.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link7.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_joint7" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0.088 0 0"/>
|
||||
<parent link="panda_link6"/>
|
||||
<child link="panda_link7"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
|
||||
</joint>
|
||||
<!--
|
||||
<link name="panda_link8"/>
|
||||
<joint name="panda_joint8" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 0.107"/>
|
||||
<parent link="panda_link7"/>
|
||||
<child link="panda_link8"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
</joint>
|
||||
Removing this joint seems to help with some stability things
|
||||
-->
|
||||
<joint name="panda_hand_joint" type="fixed">
|
||||
<!--
|
||||
<parent link="panda_link8"/>
|
||||
-->
|
||||
<parent link="panda_link7"/>
|
||||
<child link="panda_hand"/>
|
||||
<origin rpy="0 0 -0.785398163397" xyz="0 0 0.107"/>
|
||||
<!--
|
||||
<origin rpy="0 0 -0.785398163397" xyz="0 0 0"/>
|
||||
-->
|
||||
</joint>
|
||||
<link name="panda_hand">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/hand.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/hand.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="panda_leftfinger">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/finger.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/finger.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="panda_rightfinger">
|
||||
<visual>
|
||||
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/finger.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/finger.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_finger_joint1" type="prismatic">
|
||||
<parent link="panda_hand"/>
|
||||
<child link="panda_leftfinger"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.0584"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
|
||||
</joint>
|
||||
<joint name="panda_finger_joint2" type="prismatic">
|
||||
<parent link="panda_hand"/>
|
||||
<child link="panda_rightfinger"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.0584"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="20" lower="-0.04" upper="0.0" velocity="0.2"/>
|
||||
<mimic joint="panda_finger_joint1"/>
|
||||
</joint>
|
||||
|
||||
<link name="ee_link"/>
|
||||
|
||||
<joint name="ee_fixed_joint" type="fixed">
|
||||
<parent link="panda_hand"/>
|
||||
<child link="ee_link"/>
|
||||
<origin rpy="0 0.0 0" xyz="0.0 0. 0.1"/>
|
||||
</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>
|
||||
|
||||
|
||||
@@ -0,0 +1,325 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="panda" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<link name="base_link"/>
|
||||
<link name="base_link_x"/>
|
||||
<link name="base_link_y"/>
|
||||
<link name="base_link_z"/>
|
||||
|
||||
|
||||
<joint name="base_x" type="prismatic">
|
||||
<origin rpy="0 0 0.0" xyz="0 0 0.0"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="base_link_x"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="87" lower="-1.0" upper="1.0" velocity="2.1750"/>
|
||||
</joint>
|
||||
|
||||
<joint name="base_y" type="prismatic">
|
||||
<origin rpy="0 0 0.0" xyz="0 0 0.0"/>
|
||||
<parent link="base_link_x"/>
|
||||
<child link="base_link_y"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="87" lower="-1.0" upper="1.0" velocity="2.1750"/>
|
||||
</joint>
|
||||
|
||||
<joint name="base_z" type="prismatic">
|
||||
<origin rpy="0 0 0.0" xyz="0 0 0.0"/>
|
||||
<parent link="base_link_y"/>
|
||||
<child link="base_link_z"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="87" lower="0.1" upper="1.0" velocity="2.1750"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
<joint name="base_fixed" type="fixed">
|
||||
<origin rpy="0 0 0.0" xyz="0 0 0.0"/>
|
||||
<parent link="base_link_z"/>
|
||||
<child link="panda_link0"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
|
||||
<link name="panda_link0">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link0.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link0.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
<link name="panda_link1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link1.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link1.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_joint1" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.333"/>
|
||||
<parent link="panda_link0"/>
|
||||
<child link="panda_link1"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<!--limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/-->
|
||||
<limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
|
||||
</joint>
|
||||
<link name="panda_link2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link2.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link2.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_joint2" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"/>
|
||||
<origin rpy="-1.57079632679 0 0" xyz="0 0 0"/>
|
||||
<parent link="panda_link1"/>
|
||||
<child link="panda_link2"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750"/>
|
||||
</joint>
|
||||
<link name="panda_link3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link3.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link3.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_joint3" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 -0.316 0"/>
|
||||
<parent link="panda_link2"/>
|
||||
<child link="panda_link3"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
|
||||
</joint>
|
||||
<link name="panda_link4">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link4.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link4.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_joint4" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0.0825 0 0"/>
|
||||
<parent link="panda_link3"/>
|
||||
<child link="panda_link4"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750"/>
|
||||
<!-- something is weird with this joint limit config
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="87" lower="-3.0" upper="0.087" velocity="2.1750"/> -->
|
||||
</joint>
|
||||
<link name="panda_link5">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link5.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link5.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_joint5" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
|
||||
<origin rpy="-1.57079632679 0 0" xyz="-0.0825 0.384 0"/>
|
||||
<parent link="panda_link4"/>
|
||||
<child link="panda_link5"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
|
||||
</joint>
|
||||
<link name="panda_link6">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link6.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link6.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_joint6" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||
<parent link="panda_link5"/>
|
||||
<child link="panda_link6"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="12" lower="0.5" upper="3.7525" velocity="2.6100"/>
|
||||
<!-- <dynamics damping="10.0"/>
|
||||
<limit effort="12" lower="-0.0873" upper="3.0" velocity="2.6100"/> -->
|
||||
</joint>
|
||||
<link name="panda_link7">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link7.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link7.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_joint7" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0.088 0 0"/>
|
||||
<parent link="panda_link6"/>
|
||||
<child link="panda_link7"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
|
||||
</joint>
|
||||
<link name="panda_link8"/>
|
||||
<joint name="panda_joint8" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 0.107"/>
|
||||
<parent link="panda_link7"/>
|
||||
<child link="panda_link8"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
</joint>
|
||||
<joint name="panda_hand_joint" type="fixed">
|
||||
<!--
|
||||
<parent link="panda_link8"/>
|
||||
-->
|
||||
<parent link="panda_link8"/>
|
||||
<child link="panda_hand"/>
|
||||
<origin rpy="0 0 -0.785398163397" xyz="0 0 0.0"/>
|
||||
<!--
|
||||
<origin rpy="0 0 -0.785398163397" xyz="0 0 0"/>
|
||||
-->
|
||||
</joint>
|
||||
<link name="panda_hand">
|
||||
<visual>
|
||||
<origin rpy="1.57 0.0 0.0" xyz="0 0 0.0"/>
|
||||
<!--origin rpy="-1.57 0.0 0.0" xyz="0 0 0.0"/-->
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/hand.obj"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0.0 0.0" xyz="0 0 0.0"/>
|
||||
<geometry>
|
||||
<!--box size="0.01 0.01 0.01"/-->
|
||||
<!--mesh filename="meshes/visual/hand.obj"/-->
|
||||
<mesh filename="meshes/collision/hand_gripper.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="ee_fixed_joint" type="fixed">
|
||||
<parent link="panda_hand"/>
|
||||
<child link="grasp_frame"/>
|
||||
<!--origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0922 0.0"/-->
|
||||
<!--origin rpy="-1.57 0.0 1.57" xyz="0.0 0. 0.0"/-->
|
||||
<origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0 0.11"/>
|
||||
</joint>
|
||||
<link name="grasp_frame">
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size="0.01 0.01 0.01"/>
|
||||
</geometry>
|
||||
|
||||
<origin rpy="0 0 0" xyz="0.0 0 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="ee_fixed_t" type="fixed">
|
||||
<parent link="panda_hand"/>
|
||||
<child link="ee_link"/>
|
||||
<!--origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0922 0.0"/-->
|
||||
<origin rpy="0 0.0 0" xyz="0.0 0. 0.1"/>
|
||||
<!--origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0 0.1"/-->
|
||||
</joint>
|
||||
<link name="ee_link"/>
|
||||
<link name="ee_grasp_frame"/>
|
||||
<joint name="ee_grasp_joint" type="fixed">
|
||||
<parent link="panda_hand"/>
|
||||
<child link="ee_grasp_frame"/>
|
||||
<!--origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0922 0.0"/-->
|
||||
<origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0 0.0"/>
|
||||
<!--origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0 0.1"/-->
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<link name="panda_leftfinger">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/finger.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/finger.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="panda_rightfinger">
|
||||
<visual>
|
||||
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/finger.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/finger.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_finger_joint1" type="fixed">
|
||||
<parent link="panda_hand"/>
|
||||
<child link="panda_leftfinger"/>
|
||||
<origin rpy="0 0 0" xyz="0 0.04 0.0584"/>
|
||||
</joint>
|
||||
<joint name="panda_finger_joint2" type="fixed">
|
||||
<parent link="panda_hand"/>
|
||||
<child link="panda_rightfinger"/>
|
||||
<origin rpy="0 0 0" xyz="0 -0.04 0.0584"/>
|
||||
</joint>
|
||||
|
||||
</robot>
|
||||
|
||||
|
||||
@@ -0,0 +1,52 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="panda" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<link name="base_link"/>
|
||||
<link name="base_link_x"/>
|
||||
<link name="base_link_y"/>
|
||||
|
||||
<joint name="base_x" type="prismatic">
|
||||
<origin rpy="0 0 0.0" xyz="0 0 0.0"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="base_link_x"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="87" lower="-5.0" upper="5.0" velocity="1.0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="base_y" type="prismatic">
|
||||
<origin rpy="0 0 0.0" xyz="0 0 0.0"/>
|
||||
<parent link="base_link_x"/>
|
||||
<child link="base_link_y"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="87" lower="-5.0" upper="5.0" velocity="1.0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="base_z" type="revolute">
|
||||
<origin rpy="0 0 0.0" xyz="0 0 0.0"/>
|
||||
<parent link="base_link_y"/>
|
||||
<child link="panda_link0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="87" lower="-6.0" upper="6.0" velocity="1.50"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
|
||||
<link name="panda_link0">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link0.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link0.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
</robot>
|
||||
|
||||
|
||||
@@ -0,0 +1,303 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="panda" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<link name="base_link"/>
|
||||
<link name="base_link_x"/>
|
||||
|
||||
|
||||
<joint name="base_x" type="prismatic">
|
||||
<origin rpy="0 0 0.0" xyz="0 0 0.0"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="base_link_x"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="87" lower="-5.0" upper="5.0" velocity="1.0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="base_fixed" type="fixed">
|
||||
<origin rpy="0 0 0.0" xyz="0 0 0.1"/>
|
||||
<parent link="base_link_x"/>
|
||||
<child link="panda_link0"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
|
||||
<link name="panda_link0">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link0.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link0.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
<link name="panda_link1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link1.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link1.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_joint1" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.333"/>
|
||||
<parent link="panda_link0"/>
|
||||
<child link="panda_link1"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<!--limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/-->
|
||||
<limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
|
||||
</joint>
|
||||
<link name="panda_link2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link2.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link2.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_joint2" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"/>
|
||||
<origin rpy="-1.57079632679 0 0" xyz="0 0 0"/>
|
||||
<parent link="panda_link1"/>
|
||||
<child link="panda_link2"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750"/>
|
||||
</joint>
|
||||
<link name="panda_link3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link3.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link3.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_joint3" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 -0.316 0"/>
|
||||
<parent link="panda_link2"/>
|
||||
<child link="panda_link3"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
|
||||
</joint>
|
||||
<link name="panda_link4">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link4.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link4.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_joint4" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0.0825 0 0"/>
|
||||
<parent link="panda_link3"/>
|
||||
<child link="panda_link4"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750"/>
|
||||
<!-- something is weird with this joint limit config
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="87" lower="-3.0" upper="0.087" velocity="2.1750"/> -->
|
||||
</joint>
|
||||
<link name="panda_link5">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link5.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link5.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_joint5" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
|
||||
<origin rpy="-1.57079632679 0 0" xyz="-0.0825 0.384 0"/>
|
||||
<parent link="panda_link4"/>
|
||||
<child link="panda_link5"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
|
||||
</joint>
|
||||
<link name="panda_link6">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link6.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link6.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_joint6" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||
<parent link="panda_link5"/>
|
||||
<child link="panda_link6"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="12" lower="0.5" upper="3.7525" velocity="2.6100"/>
|
||||
<!-- <dynamics damping="10.0"/>
|
||||
<limit effort="12" lower="-0.0873" upper="3.0" velocity="2.6100"/> -->
|
||||
</joint>
|
||||
<link name="panda_link7">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link7.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link7.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_joint7" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0.088 0 0"/>
|
||||
<parent link="panda_link6"/>
|
||||
<child link="panda_link7"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
|
||||
</joint>
|
||||
<link name="panda_link8"/>
|
||||
<joint name="panda_joint8" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 0.107"/>
|
||||
<parent link="panda_link7"/>
|
||||
<child link="panda_link8"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
</joint>
|
||||
<joint name="panda_hand_joint" type="fixed">
|
||||
<!--
|
||||
<parent link="panda_link8"/>
|
||||
-->
|
||||
<parent link="panda_link8"/>
|
||||
<child link="panda_hand"/>
|
||||
<origin rpy="0 0 -0.785398163397" xyz="0 0 0.0"/>
|
||||
<!--
|
||||
<origin rpy="0 0 -0.785398163397" xyz="0 0 0"/>
|
||||
-->
|
||||
</joint>
|
||||
<link name="panda_hand">
|
||||
<visual>
|
||||
<origin rpy="1.57 0.0 0.0" xyz="0 0 0.0"/>
|
||||
<!--origin rpy="-1.57 0.0 0.0" xyz="0 0 0.0"/-->
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/hand.obj"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0.0 0.0" xyz="0 0 0.0"/>
|
||||
<geometry>
|
||||
<!--box size="0.01 0.01 0.01"/-->
|
||||
<!--mesh filename="meshes/visual/hand.obj"/-->
|
||||
<mesh filename="meshes/collision/hand_gripper.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="ee_fixed_joint" type="fixed">
|
||||
<parent link="panda_hand"/>
|
||||
<child link="grasp_frame"/>
|
||||
<!--origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0922 0.0"/-->
|
||||
<!--origin rpy="-1.57 0.0 1.57" xyz="0.0 0. 0.0"/-->
|
||||
<origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0 0.11"/>
|
||||
</joint>
|
||||
<link name="grasp_frame">
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size="0.01 0.01 0.01"/>
|
||||
</geometry>
|
||||
|
||||
<origin rpy="0 0 0" xyz="0.0 0 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="ee_fixed_t" type="fixed">
|
||||
<parent link="panda_hand"/>
|
||||
<child link="ee_link"/>
|
||||
<!--origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0922 0.0"/-->
|
||||
<origin rpy="0 0.0 0" xyz="0.0 0. 0.1"/>
|
||||
<!--origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0 0.1"/-->
|
||||
</joint>
|
||||
<link name="ee_link"/>
|
||||
<link name="ee_grasp_frame"/>
|
||||
<joint name="ee_grasp_joint" type="fixed">
|
||||
<parent link="panda_hand"/>
|
||||
<child link="ee_grasp_frame"/>
|
||||
<!--origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0922 0.0"/-->
|
||||
<origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0 0.0"/>
|
||||
<!--origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0 0.1"/-->
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<link name="panda_leftfinger">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/finger.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/finger.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="panda_rightfinger">
|
||||
<visual>
|
||||
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/finger.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/finger.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_finger_joint1" type="fixed">
|
||||
<parent link="panda_hand"/>
|
||||
<child link="panda_leftfinger"/>
|
||||
<origin rpy="0 0 0" xyz="0 0.04 0.0584"/>
|
||||
</joint>
|
||||
<joint name="panda_finger_joint2" type="fixed">
|
||||
<parent link="panda_hand"/>
|
||||
<child link="panda_rightfinger"/>
|
||||
<origin rpy="0 0 0" xyz="0 -0.04 0.0584"/>
|
||||
</joint>
|
||||
|
||||
</robot>
|
||||
|
||||
|
||||
@@ -0,0 +1,316 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="panda" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<link name="base_link"/>
|
||||
<link name="base_link_x"/>
|
||||
<link name="base_link_y"/>
|
||||
|
||||
|
||||
<joint name="base_x" type="prismatic">
|
||||
<origin rpy="0 0 0.0" xyz="0 0 0.0"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="base_link_x"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="87" lower="-1.0" upper="1.0" velocity="3.0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="base_y" type="prismatic">
|
||||
<origin rpy="0 0 0.0" xyz="0 0 0.0"/>
|
||||
<parent link="base_link_x"/>
|
||||
<child link="base_link_y"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="87" lower="-1.0" upper="1.0" velocity="3.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
|
||||
<joint name="base_fixed" type="fixed">
|
||||
<origin rpy="0 0 0.0" xyz="0 0 0.1"/>
|
||||
<parent link="base_link_y"/>
|
||||
<child link="panda_link0"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
|
||||
<link name="panda_link0">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link0.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link0.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
<link name="panda_link1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link1.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link1.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_joint1" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.333"/>
|
||||
<parent link="panda_link0"/>
|
||||
<child link="panda_link1"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<!--limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/-->
|
||||
<limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
|
||||
</joint>
|
||||
<link name="panda_link2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link2.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link2.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_joint2" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"/>
|
||||
<origin rpy="-1.57079632679 0 0" xyz="0 0 0"/>
|
||||
<parent link="panda_link1"/>
|
||||
<child link="panda_link2"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750"/>
|
||||
</joint>
|
||||
<link name="panda_link3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link3.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link3.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_joint3" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 -0.316 0"/>
|
||||
<parent link="panda_link2"/>
|
||||
<child link="panda_link3"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
|
||||
</joint>
|
||||
<link name="panda_link4">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link4.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link4.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_joint4" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0.0825 0 0"/>
|
||||
<parent link="panda_link3"/>
|
||||
<child link="panda_link4"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750"/>
|
||||
<!-- something is weird with this joint limit config
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="87" lower="-3.0" upper="0.087" velocity="2.1750"/> -->
|
||||
</joint>
|
||||
<link name="panda_link5">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link5.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link5.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_joint5" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
|
||||
<origin rpy="-1.57079632679 0 0" xyz="-0.0825 0.384 0"/>
|
||||
<parent link="panda_link4"/>
|
||||
<child link="panda_link5"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
|
||||
</joint>
|
||||
<link name="panda_link6">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link6.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link6.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_joint6" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||
<parent link="panda_link5"/>
|
||||
<child link="panda_link6"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="12" lower="0.5" upper="3.7525" velocity="2.6100"/>
|
||||
<!-- <dynamics damping="10.0"/>
|
||||
<limit effort="12" lower="-0.0873" upper="3.0" velocity="2.6100"/> -->
|
||||
</joint>
|
||||
<link name="panda_link7">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link7.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link7.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_joint7" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0.088 0 0"/>
|
||||
<parent link="panda_link6"/>
|
||||
<child link="panda_link7"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
|
||||
</joint>
|
||||
<link name="panda_link8"/>
|
||||
<joint name="panda_joint8" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 0.107"/>
|
||||
<parent link="panda_link7"/>
|
||||
<child link="panda_link8"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
</joint>
|
||||
<joint name="panda_hand_joint" type="fixed">
|
||||
<!--
|
||||
<parent link="panda_link8"/>
|
||||
-->
|
||||
<parent link="panda_link8"/>
|
||||
<child link="panda_hand"/>
|
||||
<origin rpy="0 0 -0.785398163397" xyz="0 0 0.0"/>
|
||||
<!--
|
||||
<origin rpy="0 0 -0.785398163397" xyz="0 0 0"/>
|
||||
-->
|
||||
</joint>
|
||||
<link name="panda_hand">
|
||||
<visual>
|
||||
<!--origin rpy="0.0 0.0 0.0" xyz="0 0 0.0"/-->
|
||||
<origin rpy="1.57 0.0 0.0" xyz="0 0 0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/hand.obj"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0.0 0.0" xyz="0 0 0.0"/>
|
||||
<geometry>
|
||||
<!--box size="0.01 0.01 0.01"/-->
|
||||
<!--mesh filename="meshes/visual/hand.obj"/-->
|
||||
<mesh filename="meshes/collision/hand_gripper.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="ee_fixed_joint" type="fixed">
|
||||
<parent link="panda_hand"/>
|
||||
<child link="grasp_frame"/>
|
||||
<!--origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0922 0.0"/-->
|
||||
<!--origin rpy="-1.57 0.0 1.57" xyz="0.0 0. 0.0"/-->
|
||||
<origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0 0.11"/>
|
||||
</joint>
|
||||
<link name="grasp_frame">
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size="0.01 0.01 0.01"/>
|
||||
</geometry>
|
||||
|
||||
<origin rpy="0 0 0" xyz="0.0 0 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="ee_fixed_t" type="fixed">
|
||||
<parent link="panda_hand"/>
|
||||
<child link="ee_link"/>
|
||||
<!--origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0922 0.0"/-->
|
||||
<origin rpy="0 0.0 0" xyz="0.0 0. 0.1"/>
|
||||
<!--origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0 0.1"/-->
|
||||
</joint>
|
||||
<link name="ee_link"/>
|
||||
<link name="ee_grasp_frame"/>
|
||||
<joint name="ee_grasp_joint" type="fixed">
|
||||
<parent link="panda_hand"/>
|
||||
<child link="ee_grasp_frame"/>
|
||||
<!--origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0922 0.0"/-->
|
||||
<origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0 0.0"/>
|
||||
<!--origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0 0.1"/-->
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<link name="panda_leftfinger">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/finger.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/finger.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="panda_rightfinger">
|
||||
<visual>
|
||||
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/finger.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/finger.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_finger_joint1" type="fixed">
|
||||
<parent link="panda_hand"/>
|
||||
<child link="panda_leftfinger"/>
|
||||
<origin rpy="0 0 0" xyz="0 0.04 0.0584"/>
|
||||
</joint>
|
||||
<joint name="panda_finger_joint2" type="fixed">
|
||||
<parent link="panda_hand"/>
|
||||
<child link="panda_rightfinger"/>
|
||||
<origin rpy="0 0 0" xyz="0 -0.04 0.0584"/>
|
||||
</joint>
|
||||
|
||||
</robot>
|
||||
|
||||
|
||||
@@ -0,0 +1,332 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="panda" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<link name="base_link"/>
|
||||
<link name="base_link_x"/>
|
||||
<link name="base_link_y"/>
|
||||
<link name="base_link_z"/>
|
||||
|
||||
|
||||
<joint name="base_x" type="prismatic">
|
||||
<origin rpy="0 0 0.0" xyz="0 0 0.0"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="base_link_x"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="87" lower="-5.0" upper="5.0" velocity="1.0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="base_y" type="prismatic">
|
||||
<origin rpy="0 0 0.0" xyz="0 0 0.0"/>
|
||||
<parent link="base_link_x"/>
|
||||
<child link="base_link_y"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="87" lower="-5.0" upper="5.0" velocity="1.0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="base_z" type="revolute">
|
||||
<origin rpy="0 0 0.0" xyz="0 0 0.0"/>
|
||||
<parent link="base_link_y"/>
|
||||
<child link="base_link_z"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="87" lower="-6.0" upper="6.0" velocity="1.50"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
<joint name="base_fixed" type="fixed">
|
||||
<origin rpy="0 0 0.0" xyz="0 0 0.1"/>
|
||||
<parent link="base_link_z"/>
|
||||
<child link="panda_link0"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
|
||||
<link name="panda_link0">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link0.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link0.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
<link name="panda_link1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link1.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link1.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_joint1" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.333"/>
|
||||
<parent link="panda_link0"/>
|
||||
<child link="panda_link1"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<!--limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/-->
|
||||
<limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
|
||||
</joint>
|
||||
<link name="panda_link2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link2.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link2.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_joint2" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"/>
|
||||
<origin rpy="-1.57079632679 0 0" xyz="0 0 0"/>
|
||||
<parent link="panda_link1"/>
|
||||
<child link="panda_link2"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750"/>
|
||||
</joint>
|
||||
<link name="panda_link3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link3.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link3.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_joint3" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 -0.316 0"/>
|
||||
<parent link="panda_link2"/>
|
||||
<child link="panda_link3"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
|
||||
</joint>
|
||||
<link name="panda_link4">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link4.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link4.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_joint4" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0.0825 0 0"/>
|
||||
<parent link="panda_link3"/>
|
||||
<child link="panda_link4"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750"/>
|
||||
<!-- something is weird with this joint limit config
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="87" lower="-3.0" upper="0.087" velocity="2.1750"/> -->
|
||||
</joint>
|
||||
<link name="panda_link5">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link5.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link5.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_joint5" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
|
||||
<origin rpy="-1.57079632679 0 0" xyz="-0.0825 0.384 0"/>
|
||||
<parent link="panda_link4"/>
|
||||
<child link="panda_link5"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
|
||||
</joint>
|
||||
<link name="panda_link6">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link6.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link6.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_joint6" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||
<parent link="panda_link5"/>
|
||||
<child link="panda_link6"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="12" lower="0.5" upper="3.7525" velocity="2.6100"/>
|
||||
<!-- <dynamics damping="10.0"/>
|
||||
<limit effort="12" lower="-0.0873" upper="3.0" velocity="2.6100"/> -->
|
||||
</joint>
|
||||
<link name="panda_link7">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link7.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link7.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_joint7" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0.088 0 0"/>
|
||||
<parent link="panda_link6"/>
|
||||
<child link="panda_link7"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
|
||||
</joint>
|
||||
<link name="panda_link8"/>
|
||||
<joint name="panda_joint8" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 0.107"/>
|
||||
<parent link="panda_link7"/>
|
||||
<child link="panda_link8"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
</joint>
|
||||
<joint name="panda_hand_joint" type="fixed">
|
||||
<!--
|
||||
<parent link="panda_link8"/>
|
||||
-->
|
||||
<parent link="panda_link8"/>
|
||||
<child link="panda_hand"/>
|
||||
<origin rpy="0 0 -0.785398163397" xyz="0 0 0.0"/>
|
||||
<!--
|
||||
<origin rpy="0 0 -0.785398163397" xyz="0 0 0"/>
|
||||
-->
|
||||
</joint>
|
||||
<link name="panda_hand">
|
||||
<visual>
|
||||
<origin rpy="1.57 0.0 0.0" xyz="0 0 0.0"/>
|
||||
<!--origin rpy="-1.57 0.0 0.0" xyz="0 0 0.0"/-->
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/hand.obj"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0.0 0.0" xyz="0 0 0.0"/>
|
||||
<geometry>
|
||||
<!--box size="0.01 0.01 0.01"/-->
|
||||
<!--mesh filename="meshes/visual/hand.obj"/-->
|
||||
<mesh filename="meshes/collision/hand_gripper.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="ee_fixed_joint" type="fixed">
|
||||
<parent link="panda_hand"/>
|
||||
<child link="grasp_frame"/>
|
||||
<!--origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0922 0.0"/-->
|
||||
<!--origin rpy="-1.57 0.0 1.57" xyz="0.0 0. 0.0"/-->
|
||||
<origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0 0.11"/>
|
||||
</joint>
|
||||
<link name="grasp_frame">
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size="0.01 0.01 0.01"/>
|
||||
</geometry>
|
||||
|
||||
<origin rpy="0 0 0" xyz="0.0 0 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="ee_fixed_t" type="fixed">
|
||||
<parent link="panda_hand"/>
|
||||
<child link="ee_link"/>
|
||||
<!--origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0922 0.0"/-->
|
||||
<origin rpy="0 0.0 0" xyz="0.0 0. 0.1"/>
|
||||
<!--origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0 0.1"/-->
|
||||
</joint>
|
||||
<link name="ee_link"/>
|
||||
<link name="ee_grasp_frame"/>
|
||||
<joint name="ee_grasp_joint" type="fixed">
|
||||
<parent link="panda_hand"/>
|
||||
<child link="ee_grasp_frame"/>
|
||||
<!--origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0922 0.0"/-->
|
||||
<origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0 0.0"/>
|
||||
<!--origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0 0.1"/-->
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<link name="panda_leftfinger">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/finger.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/finger.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="panda_rightfinger">
|
||||
<visual>
|
||||
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/finger.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/finger.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_finger_joint1" type="prismatic">
|
||||
<parent link="panda_hand"/>
|
||||
<child link="panda_leftfinger"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.0584"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
|
||||
</joint>
|
||||
<joint name="panda_finger_joint2" type="prismatic">
|
||||
<parent link="panda_hand"/>
|
||||
<child link="panda_rightfinger"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.0584"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="20" lower="-0.04" upper="0.0" velocity="0.2"/>
|
||||
<mimic joint="panda_finger_joint1"/>
|
||||
</joint>
|
||||
|
||||
</robot>
|
||||
|
||||
|
||||
@@ -0,0 +1,302 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="panda" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<link name="base_link"/>
|
||||
<joint name="panda_fixed" type="fixed">
|
||||
<origin rpy="0 0 0.0" xyz="0 0 0.0"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="panda_link0"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="panda_link0">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link0.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link0.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
<link name="panda_link1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link1.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link1.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_joint1" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.333"/>
|
||||
<parent link="panda_link0"/>
|
||||
<child link="panda_link1"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<!--limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/-->
|
||||
<limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
|
||||
</joint>
|
||||
<link name="panda_link2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link2.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link2.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_joint2" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"/>
|
||||
<origin rpy="-1.57079632679 0 0" xyz="0 0 0"/>
|
||||
<parent link="panda_link1"/>
|
||||
<child link="panda_link2"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750"/>
|
||||
</joint>
|
||||
<link name="panda_link3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link3.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link3.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_joint3" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 -0.316 0"/>
|
||||
<parent link="panda_link2"/>
|
||||
<child link="panda_link3"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
|
||||
</joint>
|
||||
<link name="panda_link4">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link4.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link4.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_joint4" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0.0825 0 0"/>
|
||||
<parent link="panda_link3"/>
|
||||
<child link="panda_link4"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750"/>
|
||||
<!-- something is weird with this joint limit config
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="87" lower="-3.0" upper="0.087" velocity="2.1750"/> -->
|
||||
</joint>
|
||||
<link name="panda_link5">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link5.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link5.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_joint5" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
|
||||
<origin rpy="-1.57079632679 0 0" xyz="-0.0825 0.384 0"/>
|
||||
<parent link="panda_link4"/>
|
||||
<child link="panda_link5"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
|
||||
</joint>
|
||||
<link name="panda_link6">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link6.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link6.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_joint6" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||
<parent link="panda_link5"/>
|
||||
<child link="panda_link6"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="12" lower="0.5" upper="3.7525" velocity="2.6100"/>
|
||||
<!-- <dynamics damping="10.0"/>
|
||||
<limit effort="12" lower="-0.0873" upper="3.0" velocity="2.6100"/> -->
|
||||
</joint>
|
||||
<link name="panda_link7">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link7.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link7.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_joint7" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0.088 0 0"/>
|
||||
<parent link="panda_link6"/>
|
||||
<child link="panda_link7"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
|
||||
</joint>
|
||||
<link name="panda_link8"/>
|
||||
<joint name="panda_joint8" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 0.107"/>
|
||||
<parent link="panda_link7"/>
|
||||
<child link="panda_link8"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
</joint>
|
||||
<joint name="panda_hand_joint" type="fixed">
|
||||
<!--
|
||||
<parent link="panda_link8"/>
|
||||
-->
|
||||
<parent link="panda_link8"/>
|
||||
<child link="panda_hand"/>
|
||||
<origin rpy="0 0 -0.785398163397" xyz="0 0 0.0"/>
|
||||
<!--
|
||||
<origin rpy="0 0 -0.785398163397" xyz="0 0 0"/>
|
||||
-->
|
||||
</joint>
|
||||
<link name="panda_hand">
|
||||
<visual>
|
||||
<!--origin rpy="0.0 0.0 0.0" xyz="0 0 0.0"/-->
|
||||
<origin rpy="1.57 0.0 0.0" xyz="0 0 0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/hand.obj"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0.0 0.0" xyz="0 0 0.0"/>
|
||||
<geometry>
|
||||
<!--box size="0.01 0.01 0.01"/-->
|
||||
<!--mesh filename="meshes/visual/hand.obj"/-->
|
||||
<mesh filename="meshes/collision/hand_gripper.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="ee_fixed_joint" type="fixed">
|
||||
<parent link="panda_hand"/>
|
||||
<child link="grasp_frame"/>
|
||||
<!--origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0922 0.0"/-->
|
||||
<!--origin rpy="-1.57 0.0 1.57" xyz="0.0 0. 0.0"/-->
|
||||
<origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0 0.11"/>
|
||||
</joint>
|
||||
<link name="grasp_frame">
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size="0.01 0.01 0.01"/>
|
||||
</geometry>
|
||||
|
||||
<origin rpy="0 0 0" xyz="0.0 0 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="ee_fixed_t" type="fixed">
|
||||
<parent link="panda_hand"/>
|
||||
<child link="ee_link"/>
|
||||
<!--origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0922 0.0"/-->
|
||||
<origin rpy="0 0.0 0" xyz="0.0 0. 0.1"/>
|
||||
<!--origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0 0.1"/-->
|
||||
</joint>
|
||||
<link name="ee_link"/>
|
||||
<link name="ee_grasp_frame"/>
|
||||
<joint name="ee_grasp_joint" type="fixed">
|
||||
<parent link="panda_hand"/>
|
||||
<child link="ee_grasp_frame"/>
|
||||
<!--origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0922 0.0"/-->
|
||||
<origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0 0.0"/>
|
||||
<!--origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0 0.1"/-->
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
<link name="panda_leftfinger">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/finger.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/finger.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="panda_rightfinger">
|
||||
<visual>
|
||||
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/finger.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/finger.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_finger_joint1" type="fixed">
|
||||
<parent link="panda_hand"/>
|
||||
<child link="panda_leftfinger"/>
|
||||
<origin rpy="0 0 0" xyz="0 0.04 0.0584"/>
|
||||
</joint>
|
||||
<joint name="panda_finger_joint2" type="fixed">
|
||||
<parent link="panda_hand"/>
|
||||
<child link="panda_rightfinger"/>
|
||||
<origin rpy="0 0 0" xyz="0 -0.04 0.0584"/>
|
||||
</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>
|
||||
|
||||
|
||||
@@ -0,0 +1,312 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from panda_arm_hand.urdf.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<robot name="panda" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<link name="panda_link0">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.05"/>
|
||||
<mass value="2.9"/>
|
||||
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://meshes/collision/link0.obj"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://meshes/collision/link0.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="panda_link1">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.04 -0.05"/>
|
||||
<mass value="2.7"/>
|
||||
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://meshes/visual/link1.obj"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://meshes/collision/link1.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_joint1" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.333"/>
|
||||
<parent link="panda_link0"/>
|
||||
<child link="panda_link1"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="87" lower="-2.9671" upper="2.9671" velocity="2.1750"/>
|
||||
</joint>
|
||||
<link name="panda_link2">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.04 0.06"/>
|
||||
<mass value="2.73"/>
|
||||
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://meshes/visual/link2.obj"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://meshes/collision/link2.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_joint2" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"/>
|
||||
<origin rpy="-1.57079632679 0 0" xyz="0 0 0"/>
|
||||
<parent link="panda_link1"/>
|
||||
<child link="panda_link2"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="87" lower="-1.8326" upper="1.8326" velocity="2.1750"/>
|
||||
</joint>
|
||||
<link name="panda_link3">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.01 0.01 -0.05"/>
|
||||
<mass value="2.04"/>
|
||||
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://meshes/visual/link3.obj"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://meshes/collision/link3.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_joint3" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 -0.316 0"/>
|
||||
<parent link="panda_link2"/>
|
||||
<child link="panda_link3"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="87" lower="-2.9671" upper="2.9671" velocity="2.1750"/>
|
||||
</joint>
|
||||
<link name="panda_link4">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.03 0.03 0.02"/>
|
||||
<mass value="2.08"/>
|
||||
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://meshes/visual/link4.obj"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://meshes/collision/link4.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_joint4" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0.0825 0 0"/>
|
||||
<parent link="panda_link3"/>
|
||||
<child link="panda_link4"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="87" lower="-3.1416" upper="0.0" velocity="2.1750"/>
|
||||
</joint>
|
||||
<link name="panda_link5">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0.04 -0.12"/>
|
||||
<mass value="3"/>
|
||||
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://meshes/visual/link5.obj"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://meshes/collision/link5.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_joint5" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
|
||||
<origin rpy="-1.57079632679 0 0" xyz="-0.0825 0.384 0"/>
|
||||
<parent link="panda_link4"/>
|
||||
<child link="panda_link5"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="12" lower="-2.9671" upper="2.9671" velocity="2.6100"/>
|
||||
</joint>
|
||||
<link name="panda_link6">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.04 0 0"/>
|
||||
<mass value="1.3"/>
|
||||
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://meshes/visual/link6.obj"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://meshes/collision/link6.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_joint6" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||
<parent link="panda_link5"/>
|
||||
<child link="panda_link6"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="12" lower="-0.0873" upper="3.8223" velocity="2.6100"/>
|
||||
</joint>
|
||||
<link name="panda_link7">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.08"/>
|
||||
<mass value=".2"/>
|
||||
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://meshes/collision/link7.obj"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://meshes/collision/link7.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_joint7" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0.088 0 0"/>
|
||||
<parent link="panda_link6"/>
|
||||
<child link="panda_link7"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="12" lower="-2.9671" upper="2.9671" velocity="2.6100"/>
|
||||
</joint>
|
||||
<link name="panda_link8">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="0.0"/>
|
||||
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="panda_joint8" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 0.107"/>
|
||||
<parent link="panda_link7"/>
|
||||
<child link="panda_link8"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
</joint>
|
||||
<joint name="panda_hand_joint" type="fixed">
|
||||
<parent link="panda_link8"/>
|
||||
<child link="panda_hand"/>
|
||||
<origin rpy="0 0 -0.785398163397" xyz="0 0 0"/>
|
||||
</joint>
|
||||
<link name="panda_hand">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.04"/>
|
||||
<mass value=".81"/>
|
||||
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://meshes/visual/hand.obj"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://meshes/collision/hand.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="panda_leftfinger">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0.01 0.02"/>
|
||||
<mass value="0.1"/>
|
||||
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://meshes/visual/finger.obj"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://meshes/collision/finger.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="panda_rightfinger">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.01 0.02"/>
|
||||
<mass value="0.1"/>
|
||||
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://meshes/visual/finger.obj"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://meshes/collision/finger.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_finger_joint1" type="fixed">
|
||||
<parent link="panda_hand"/>
|
||||
<child link="panda_leftfinger"/>
|
||||
<origin rpy="0 0 0" xyz="0 0.04 0.0584"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
|
||||
</joint>
|
||||
<joint name="panda_finger_joint2" type="fixed">
|
||||
<parent link="panda_hand"/>
|
||||
<child link="panda_rightfinger"/>
|
||||
<origin rpy="0 0 0" xyz="0 -0.04 0.0584"/>
|
||||
<axis xyz="0 -1 0"/>
|
||||
<limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
|
||||
<mimic joint="panda_finger_joint1"/>
|
||||
</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"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="panda_link8"/>
|
||||
<child link="right_gripper"/>
|
||||
</joint>
|
||||
<link name="panda_grasptarget">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="0.0"/>
|
||||
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="panda_grasptarget_hand" type="fixed">
|
||||
<parent link="panda_hand"/>
|
||||
<child link="panda_grasptarget"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.105"/>
|
||||
</joint>
|
||||
|
||||
</robot>
|
||||
@@ -0,0 +1,71 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot name="mug">
|
||||
<link name="base"/>
|
||||
<link name="base1"/>
|
||||
<link name="base2"/>
|
||||
<link name="base3"/>
|
||||
<link name="base4"/>
|
||||
<link name="base5"/>
|
||||
<joint name="x_joint" type="prismatic">
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<parent link="base"/>
|
||||
<child link="base1"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
|
||||
</joint>
|
||||
|
||||
<joint name="y_joint" type="prismatic">
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<parent link="base1"/>
|
||||
<child link="base2"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
|
||||
</joint>
|
||||
|
||||
<joint name="z_joint" type="prismatic">
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<parent link="base2"/>
|
||||
<child link="base3"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
|
||||
</joint>
|
||||
<joint name="rx_joint" type="revolute">
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<parent link="base3"/>
|
||||
<child link="base4"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
|
||||
</joint>
|
||||
<joint name="ry_joint" type="revolute">
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<parent link="base4"/>
|
||||
<child link="base5"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
|
||||
</joint>
|
||||
<joint name="rz_joint" type="revolute">
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<parent link="base5"/>
|
||||
<child link="gripper"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
|
||||
</joint>
|
||||
<link name="gripper">
|
||||
<visual>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/hand.obj"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/hand.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.0"/>
|
||||
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
|
||||
</inertial>
|
||||
</link>
|
||||
</robot>
|
||||
342
src/curobo/content/assets/robot/franka_description/panda.urdf
Normal file
342
src/curobo/content/assets/robot/franka_description/panda.urdf
Normal file
@@ -0,0 +1,342 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from panda_arm_hand.urdf.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<robot name="panda" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<link name="panda_link0">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link0.dae"/>
|
||||
</geometry>
|
||||
<material name="panda_white">
|
||||
<color rgba="1. 1. 1. 1."/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link0.stl"/>
|
||||
</geometry>
|
||||
<material name="panda_white"/>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="panda_link1">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.04 -0.05"/>
|
||||
<mass value="2.7"/>
|
||||
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link1.dae"/>
|
||||
</geometry>
|
||||
<material name="panda_white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link1.stl"/>
|
||||
</geometry>
|
||||
<material name="panda_white"/>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_joint1" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.333"/>
|
||||
<parent link="panda_link0"/>
|
||||
<child link="panda_link1"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
|
||||
</joint>
|
||||
<link name="panda_link2">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.04 0.06"/>
|
||||
<mass value="2.73"/>
|
||||
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link2.dae"/>
|
||||
</geometry>
|
||||
<material name="panda_white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link2.stl"/>
|
||||
</geometry>
|
||||
<material name="panda_white"/>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_joint2" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"/>
|
||||
<origin rpy="-1.57079632679 0 0" xyz="0 0 0"/>
|
||||
<parent link="panda_link1"/>
|
||||
<child link="panda_link2"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750"/>
|
||||
</joint>
|
||||
<link name="panda_link3">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.01 0.01 -0.05"/>
|
||||
<mass value="2.04"/>
|
||||
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link3.dae"/>
|
||||
</geometry>
|
||||
<material name="panda_red">
|
||||
<color rgba="1. 1. 1. 1."/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link3.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_joint3" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 -0.316 0"/>
|
||||
<parent link="panda_link2"/>
|
||||
<child link="panda_link3"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
|
||||
</joint>
|
||||
<link name="panda_link4">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.03 0.03 0.02"/>
|
||||
<mass value="2.08"/>
|
||||
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link4.dae"/>
|
||||
</geometry>
|
||||
<material name="panda_white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link4.stl"/>
|
||||
</geometry>
|
||||
<material name="panda_white"/>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_joint4" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0.0825 0 0"/>
|
||||
<parent link="panda_link3"/>
|
||||
<child link="panda_link4"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750"/>
|
||||
</joint>
|
||||
<link name="panda_link5">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0.04 -0.12"/>
|
||||
<mass value="3"/>
|
||||
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link5.dae"/>
|
||||
</geometry>
|
||||
<material name="panda_white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link5.stl"/>
|
||||
</geometry>
|
||||
<material name="panda_white"/>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_joint5" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8975" soft_upper_limit="2.8975"/>
|
||||
<origin rpy="-1.57079632679 0 0" xyz="-0.0825 0.384 0"/>
|
||||
<parent link="panda_link4"/>
|
||||
<child link="panda_link5"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="12" lower="-2.8975" upper="2.8975" velocity="2.6100"/>
|
||||
</joint>
|
||||
<link name="panda_link6">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.04 0 0"/>
|
||||
<mass value="1.3"/>
|
||||
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link6.dae"/>
|
||||
</geometry>
|
||||
<material name="panda_white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link6.stl"/>
|
||||
</geometry>
|
||||
<material name="panda_white"/>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_joint6" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||
<parent link="panda_link5"/>
|
||||
<child link="panda_link6"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="12" lower="-0.0175" upper="3.7525" velocity="2.6100"/>
|
||||
</joint>
|
||||
<link name="panda_link7">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.08"/>
|
||||
<mass value=".2"/>
|
||||
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link7.dae"/>
|
||||
</geometry>
|
||||
<material name="panda_white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link7.stl"/>
|
||||
</geometry>
|
||||
<material name="panda_white"/>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_joint7" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0.088 0 0"/>
|
||||
<parent link="panda_link6"/>
|
||||
<child link="panda_link7"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
|
||||
</joint>
|
||||
<link name="panda_link8">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="0.0"/>
|
||||
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="panda_joint8" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 0.107"/>
|
||||
<parent link="panda_link7"/>
|
||||
<child link="panda_link8"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
</joint>
|
||||
<joint name="panda_hand_joint" type="fixed">
|
||||
<parent link="panda_link8"/>
|
||||
<child link="panda_hand"/>
|
||||
<origin rpy="0 0 -0.785398163397" xyz="0 0 0"/>
|
||||
</joint>
|
||||
<link name="panda_hand">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.04"/>
|
||||
<mass value=".81"/>
|
||||
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/hand.dae"/>
|
||||
</geometry>
|
||||
<material name="panda_white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/hand.stl"/>
|
||||
</geometry>
|
||||
<material name="panda_white"/>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="panda_leftfinger">
|
||||
<contact>
|
||||
<friction_anchor/>
|
||||
<stiffness value="30000.0"/>
|
||||
<damping value="1000.0"/>
|
||||
<spinning_friction value="0.1"/>
|
||||
<lateral_friction value="1.0"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0.01 0.02"/>
|
||||
<mass value="0.1"/>
|
||||
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/finger.dae"/>
|
||||
</geometry>
|
||||
<material name="panda_white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/finger.stl"/>
|
||||
</geometry>
|
||||
<material name="panda_white"/>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="panda_rightfinger">
|
||||
<contact>
|
||||
<friction_anchor/>
|
||||
<stiffness value="30000.0"/>
|
||||
<damping value="1000.0"/>
|
||||
<spinning_friction value="0.1"/>
|
||||
<lateral_friction value="1.0"/>
|
||||
</contact>
|
||||
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.01 0.02"/>
|
||||
<mass value="0.1"/>
|
||||
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/finger.dae"/>
|
||||
</geometry>
|
||||
<material name="panda_white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/finger.stl"/>
|
||||
</geometry>
|
||||
<material name="panda_white"/>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="panda_finger_joint1" type="fixed">
|
||||
<parent link="panda_hand"/>
|
||||
<child link="panda_leftfinger"/>
|
||||
<origin rpy="0 0 0" xyz="0 0.04 0.0584"/>
|
||||
</joint>
|
||||
<joint name="panda_finger_joint2" type="fixed">
|
||||
<parent link="panda_hand"/>
|
||||
<child link="panda_rightfinger"/>
|
||||
<origin rpy="0 0 0" xyz="0 -0.04 0.0584"/>
|
||||
</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"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="panda_link8"/>
|
||||
<child link="right_gripper"/>
|
||||
</joint>
|
||||
<link name="panda_grasptarget">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="0.0"/>
|
||||
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="panda_grasptarget_hand" type="fixed">
|
||||
<parent link="panda_hand"/>
|
||||
<child link="panda_grasptarget"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.105"/>
|
||||
</joint>
|
||||
|
||||
</robot>
|
||||
@@ -0,0 +1,26 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot name="panda_gripper">
|
||||
<link name="gripper">
|
||||
<visual>
|
||||
<origin rpy="0.0 0.0 0.0" xyz="0 0 0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/graspnet_panda_mesh.obj"/>
|
||||
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0.0 0.0" xyz="0 0 0.0"/>
|
||||
<geometry>
|
||||
<!--box size="0.01 0.01 0.01"/-->
|
||||
|
||||
<mesh filename="meshes/visual/graspnet_panda_mesh.obj"/>
|
||||
<!--mesh filename="meshes/collision/hand_gripper.obj"/-->
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<inertial>
|
||||
<mass value="0.102"/>
|
||||
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
|
||||
</inertial>
|
||||
</link>
|
||||
</robot>
|
||||
@@ -0,0 +1,26 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot name="panda_gripper">
|
||||
<link name="gripper">
|
||||
<visual>
|
||||
<origin rpy="0 0.0 0.0" xyz="0 0 0.0"/>
|
||||
<geometry>
|
||||
<!--mesh filename="meshes/visual/graspnet_panda_mesh.obj"/-->
|
||||
<mesh filename="meshes/visual/hand.obj"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0.0 0.0" xyz="0 0 0.0"/>
|
||||
<geometry>
|
||||
<!--box size="0.01 0.01 0.01"/-->
|
||||
<mesh filename="meshes/visual/hand.obj"/>
|
||||
<!--mesh filename="meshes/visual/graspnet_panda_mesh.obj"/-->
|
||||
<!--mesh filename="meshes/collision/hand_gripper.obj"/-->
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<inertial>
|
||||
<mass value="0.102"/>
|
||||
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
|
||||
</inertial>
|
||||
</link>
|
||||
</robot>
|
||||
@@ -0,0 +1,546 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from lula_kuka_allegro.urdf.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<robot name="kuka_allegro" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<!-- ======================== BASE PARAMS ========================= -->
|
||||
<!-- ======================== FINGER PARAMS ======================== -->
|
||||
<!-- full height from joint to tip. when used,
|
||||
the radius of the finger tip sphere will be subtracted
|
||||
and one fixed link will be added for the tip. -->
|
||||
<!-- ========================= THUMB PARAMS ========================= -->
|
||||
<!-- ========================= LIMITS ========================= -->
|
||||
<!-- ============================================================================= -->
|
||||
<!-- BASE -->
|
||||
<link name="allegro_mount">
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="1e-4" ixy="0" ixz="0" iyy="1e-4" iyz="0" izz="1e-4"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="kuka_allegro_description/meshes/mounts/allegro_mount.obj"/>
|
||||
</geometry>
|
||||
<material name="color_j7"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="kuka_allegro_description/meshes/mounts/allegro_mount.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="allegro_mount_joint" type="fixed">
|
||||
<origin rpy="0 -1.5708 0.785398" xyz="-0.008219 -0.02063 0.08086"/>
|
||||
<parent link="allegro_mount"/>
|
||||
<child link="palm_link"/>
|
||||
</joint>
|
||||
<link name="palm_link">
|
||||
<inertial>
|
||||
<mass value="0.4154"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="1e-4" ixy="0" ixz="0" iyy="1e-4" iyz="0" izz="1e-4"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="kuka_allegro_description/meshes/allegro/base_link.obj"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0 "/>
|
||||
<material name="Grey">
|
||||
<color rgba="0.2 0.2 0.2 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="kuka_allegro_description/meshes/allegro/base_link.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<gazebo reference="palm_link">
|
||||
<material value="Gazebo/Grey"/>
|
||||
</gazebo>
|
||||
<link name="index_link_0">
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="kuka_allegro_description/meshes/allegro/primary_base.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.005"/>
|
||||
<inertia ixx="5.1458e-5" ixy="0" ixz="0" iyy="5.1458e-5" iyz="0" izz="6.125e-5"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="kuka_allegro_description/meshes/allegro/primary_base.obj"/>
|
||||
</geometry>
|
||||
<material name="Grey">
|
||||
<color rgba="0.2 0.2 0.2 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="index_link_1">
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="kuka_allegro_description/meshes/allegro/primary_proximal.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.005"/>
|
||||
<inertia ixx="5.1458e-5" ixy="0" ixz="0" iyy="5.1458e-5" iyz="0" izz="6.125e-5"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="kuka_allegro_description/meshes/allegro/primary_proximal.obj"/>
|
||||
</geometry>
|
||||
<material name="Grey">
|
||||
<color rgba="0.2 0.2 0.2 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="index_link_2">
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="kuka_allegro_description/meshes/allegro/primary_medial.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="5.1458e-5" ixy="0" ixz="0" iyy="5.1458e-5" iyz="0" izz="6.125e-5"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="kuka_allegro_description/meshes/allegro/primary_medial.obj"/>
|
||||
</geometry>
|
||||
<material name="Grey">
|
||||
<color rgba="0.2 0.2 0.2 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="index_link_3">
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="kuka_allegro_description/meshes/biotac/biotac_sensor.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.11"/>
|
||||
<inertia ixx="5.1458e-5" ixy="0" ixz="0" iyy="5.1458e-5" iyz="0" izz="6.125e-5"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="kuka_allegro_description/meshes/biotac/biotac_sensor.obj"/>
|
||||
</geometry>
|
||||
<material name="Green">
|
||||
<color rgba="0. 0.5 0. 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="index_biotac_tip">
|
||||
<inertial>
|
||||
<mass value="0.04"/>
|
||||
<inertia ixx="5.1458e-5" ixy="0" ixz="0" iyy="5.1458e-5" iyz="0" izz="6.125e-5"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="middle_link_0">
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="kuka_allegro_description/meshes/allegro/primary_base.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1"/>
|
||||
<inertia ixx="5.1458e-5" ixy="0" ixz="0" iyy="5.1458e-5" iyz="0" izz="6.125e-5"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="kuka_allegro_description/meshes/allegro/primary_base.obj"/>
|
||||
</geometry>
|
||||
<material name="Grey">
|
||||
<color rgba="0.2 0.2 0.2 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="middle_link_1">
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="kuka_allegro_description/meshes/allegro/primary_proximal.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1"/>
|
||||
<inertia ixx="5.1458e-5" ixy="0" ixz="0" iyy="5.1458e-5" iyz="0" izz="6.125e-5"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="kuka_allegro_description/meshes/allegro/primary_proximal.obj"/>
|
||||
</geometry>
|
||||
<material name="Grey">
|
||||
<color rgba="0.2 0.2 0.2 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="middle_link_2">
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="kuka_allegro_description/meshes/allegro/primary_medial.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1"/>
|
||||
<inertia ixx="5.1458e-5" ixy="0" ixz="0" iyy="5.1458e-5" iyz="0" izz="6.125e-5"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="kuka_allegro_description/meshes/allegro/primary_medial.obj"/>
|
||||
</geometry>
|
||||
<material name="Grey">
|
||||
<color rgba="0.2 0.2 0.2 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="middle_link_3">
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="kuka_allegro_description/meshes/biotac/biotac_sensor.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1"/>
|
||||
<inertia ixx="5.1458e-5" ixy="0" ixz="0" iyy="5.1458e-5" iyz="0" izz="6.125e-5"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="kuka_allegro_description/meshes/biotac/biotac_sensor.obj"/>
|
||||
</geometry>
|
||||
<material name="Green">
|
||||
<color rgba="0 0.5 0 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="middle_biotac_tip">
|
||||
<inertial>
|
||||
<mass value="0.1"/>
|
||||
<inertia ixx="5.1458e-5" ixy="0" ixz="0" iyy="5.1458e-5" iyz="0" izz="6.125e-5"/>
|
||||
</inertial>
|
||||
</link>
|
||||
-->
|
||||
<link name="ring_link_0">
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="kuka_allegro_description/meshes/allegro/primary_base.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1"/>
|
||||
<inertia ixx="5.1458e-5" ixy="0" ixz="0" iyy="5.1458e-5" iyz="0" izz="6.125e-5"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="kuka_allegro_description/meshes/allegro/primary_base.obj"/>
|
||||
</geometry>
|
||||
<material name="Grey">
|
||||
<color rgba="0.2 0.2 0.2 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="ring_link_1">
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="kuka_allegro_description/meshes/allegro/primary_proximal.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1"/>
|
||||
<inertia ixx="5.1458e-5" ixy="0" ixz="0" iyy="5.1458e-5" iyz="0" izz="6.125e-5"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="kuka_allegro_description/meshes/allegro/primary_proximal.obj"/>
|
||||
</geometry>
|
||||
<material name="Grey">
|
||||
<color rgba="0.2 0.2 0.2 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="ring_link_2">
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="kuka_allegro_description/meshes/allegro/primary_medial.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1"/>
|
||||
<inertia ixx="5.1458e-5" ixy="0" ixz="0" iyy="5.1458e-5" iyz="0" izz="6.125e-5"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="kuka_allegro_description/meshes/allegro/primary_medial.obj"/>
|
||||
</geometry>
|
||||
<material name="Grey">
|
||||
<color rgba="0.2 0.2 0.2 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="ring_link_3">
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="kuka_allegro_description/meshes/biotac/biotac_sensor.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1"/>
|
||||
<inertia ixx="5.1458e-5" ixy="0" ixz="0" iyy="5.1458e-5" iyz="0" izz="6.125e-5"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="kuka_allegro_description/meshes/biotac/biotac_sensor.obj"/>
|
||||
</geometry>
|
||||
<material name="Green">
|
||||
<color rgba="0 0.5 0 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name="ring_biotac_tip">
|
||||
<inertial>
|
||||
<mass value="0.1"/>
|
||||
<inertia ixx="5.1458e-5" ixy="0" ixz="0" iyy="5.1458e-5" iyz="0" izz="6.125e-5"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="thumb_link_0">
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="kuka_allegro_description/meshes/allegro/thumb_base.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1"/>
|
||||
<inertia ixx="5.1458e-5" ixy="0" ixz="0" iyy="5.1458e-5" iyz="0" izz="6.125e-5"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="kuka_allegro_description/meshes/allegro/thumb_base.obj"/>
|
||||
</geometry>
|
||||
<material name="Grey">
|
||||
<color rgba="0.2 0.2 0.2 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="thumb_link_1">
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="kuka_allegro_description/meshes/allegro/thumb_proximal.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1"/>
|
||||
<inertia ixx="5.1458e-5" ixy="0" ixz="0" iyy="5.1458e-5" iyz="0" izz="6.125e-5"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="kuka_allegro_description/meshes/allegro/thumb_proximal.obj"/>
|
||||
</geometry>
|
||||
<material name="Grey">
|
||||
<color rgba="0.2 0.2 0.2 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="thumb_link_2">
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="kuka_allegro_description/meshes/allegro/thumb_medial.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1"/>
|
||||
<inertia ixx="5.1458e-5" ixy="0" ixz="0" iyy="5.1458e-5" iyz="0" izz="6.125e-5"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="kuka_allegro_description/meshes/allegro/thumb_medial.obj"/>
|
||||
</geometry>
|
||||
<material name="Grey">
|
||||
<color rgba="0.2 0.2 0.2 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="thumb_link_3">
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="kuka_allegro_description/meshes/biotac/biotac_sensor_thumb.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1"/>
|
||||
<inertia ixx="5.1458e-5" ixy="0" ixz="0" iyy="5.1458e-5" iyz="0" izz="6.125e-5"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="kuka_allegro_description/meshes/biotac/biotac_sensor_thumb.obj"/>
|
||||
</geometry>
|
||||
<material name="Green">
|
||||
<color rgba="0 0.5 0 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="thumb_biotac_tip">
|
||||
<inertial>
|
||||
<mass value="0.1"/>
|
||||
<inertia ixx="5.1458e-5" ixy="0" ixz="0" iyy="5.1458e-5" iyz="0" izz="6.125e-5"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="index_joint_0" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="0.35" lower="-0.558488888889" upper="0.558488888889" velocity="6.283"/>
|
||||
<origin rpy="3.1415 -1.57075 -0.0872638888889" xyz="0.0514302 -0.03632 -0.0113"/>
|
||||
<parent link="palm_link"/>
|
||||
<child link="index_link_0"/>
|
||||
<dynamics damping="0.025" friction="0.035"/>
|
||||
</joint>
|
||||
<joint name="index_joint_1" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="0.35" lower="-0.279244444444" upper="1.727825" velocity="6.283"/>
|
||||
<origin rpy="3.1415 -1.57075 1.57075" xyz="0.0 0.0 0.0"/>
|
||||
<parent link="index_link_0"/>
|
||||
<child link="index_link_1"/>
|
||||
<dynamics damping="0.025" friction="0.035"/>
|
||||
</joint>
|
||||
<joint name="index_joint_2" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="0.35" lower="-0.279244444444" upper="1.727825" velocity="6.283"/>
|
||||
<origin rpy="0.0 0.0 0.0" xyz="0.054 0.0 0.0"/>
|
||||
<parent link="index_link_1"/>
|
||||
<child link="index_link_2"/>
|
||||
<dynamics damping="0.025" friction="0.035"/>
|
||||
</joint>
|
||||
<joint name="index_joint_3" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="0.35" lower="-0.279244444444" upper="1.727825" velocity="6.283"/>
|
||||
<origin rpy="0.0 0.0 0.0" xyz="0.0384 0.0 0.0"/>
|
||||
<parent link="index_link_2"/>
|
||||
<child link="index_link_3"/>
|
||||
<dynamics damping="0.025" friction="0.035"/>
|
||||
</joint>
|
||||
<joint name="middle_joint_0" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="0.35" lower="-0.558488888889" upper="0.558488888889" velocity="6.283"/>
|
||||
<origin rpy="3.1415 -1.57075 0" xyz="0.0537375 0.0087771 -0.0113"/>
|
||||
<parent link="palm_link"/>
|
||||
<child link="middle_link_0"/>
|
||||
<dynamics friction="0.035"/>
|
||||
</joint>
|
||||
|
||||
<joint name="middle_joint_1" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="0.35" lower="-0.279244444444" upper="1.727825" velocity="6.283"/>
|
||||
<origin rpy="3.1415 -1.57075 1.57075" xyz="0.0 0.0 0.0"/>
|
||||
<parent link="middle_link_0"/>
|
||||
<child link="middle_link_1"/>
|
||||
<dynamics friction="0.035"/>
|
||||
</joint>
|
||||
<joint name="middle_joint_2" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="0.35" lower="-0.279244444444" upper="1.727825" velocity="6.283"/>
|
||||
<origin rpy="0.0 0.0 0.0" xyz="0.054 0.0 0.0"/>
|
||||
<parent link="middle_link_1"/>
|
||||
<child link="middle_link_2"/>
|
||||
<dynamics friction="0.035"/>
|
||||
</joint>
|
||||
<joint name="middle_joint_3" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="0.35" lower="-0.279244444444" upper="1.727825" velocity="6.283"/>
|
||||
<origin rpy="0.0 0.0 0.0" xyz="0.0384 0.0 0.0"/>
|
||||
<parent link="middle_link_2"/>
|
||||
<child link="middle_link_3"/>
|
||||
<dynamics friction="0.035"/>
|
||||
</joint>
|
||||
<joint name="middle_biotac_tip_joint" type="fixed">
|
||||
<origin rpy="0 0 0.436319444444 " xyz="0.055 0.015 0"/>
|
||||
<parent link="middle_link_3"/>
|
||||
<child link="middle_biotac_tip"/>
|
||||
</joint>
|
||||
|
||||
<joint name="ring_joint_0" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="0.35" lower="-0.558488888889" upper="0.558488888889" velocity="6.283"/>
|
||||
<origin rpy="3.1415 -1.57075 0.0872638888889" xyz="0.0514302 0.0538749 -0.0113"/>
|
||||
<parent link="palm_link"/>
|
||||
<child link="ring_link_0"/>
|
||||
<dynamics friction="0.035"/>
|
||||
</joint>
|
||||
<joint name="ring_joint_1" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="0.35" lower="-0.279244444444" upper="1.727825" velocity="6.283"/>
|
||||
<origin rpy="3.1415 -1.57075 1.57075" xyz="0.0 0.0 0.0"/>
|
||||
<parent link="ring_link_0"/>
|
||||
<child link="ring_link_1"/>
|
||||
<dynamics friction="0.035"/>
|
||||
</joint>
|
||||
<joint name="ring_joint_2" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="0.35" lower="-0.279244444444" upper="1.727825" velocity="6.283"/>
|
||||
<origin rpy="0.0 0.0 0.0" xyz="0.054 0.0 0.0"/>
|
||||
<parent link="ring_link_1"/>
|
||||
<child link="ring_link_2"/>
|
||||
<dynamics friction="0.035"/>
|
||||
</joint>
|
||||
<joint name="ring_joint_3" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="0.35" lower="-0.279244444444" upper="1.727825" velocity="6.283"/>
|
||||
<origin rpy="0.0 0.0 0.0" xyz="0.0384 0.0 0.0"/>
|
||||
<parent link="ring_link_2"/>
|
||||
<child link="ring_link_3"/>
|
||||
<dynamics friction="0.035"/>
|
||||
</joint>
|
||||
|
||||
<joint name="ring_biotac_tip_joint" type="fixed">
|
||||
<origin rpy="0 0 0.436319444444 " xyz="0.055 0.015 0"/>
|
||||
<parent link="ring_link_3"/>
|
||||
<child link="ring_biotac_tip"/>
|
||||
</joint>
|
||||
|
||||
<joint name="thumb_joint_0" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="0.35" lower="0.279244444444" upper="1.57075" velocity="6.283"/>
|
||||
<origin rpy="-1.57075 -1.57075 1.48348611111" xyz="-0.0367482 -0.0081281 -0.0295"/>
|
||||
<parent link="palm_link"/>
|
||||
<child link="thumb_link_0"/>
|
||||
<dynamics friction="0.035"/>
|
||||
</joint>
|
||||
<joint name="thumb_joint_1" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="0.35" lower="-0.331602777778" upper="1.15188333333" velocity="6.283"/>
|
||||
<origin rpy="1.57075 0 0" xyz="0.005 0.0 0.0"/>
|
||||
<parent link="thumb_link_0"/>
|
||||
<child link="thumb_link_1"/>
|
||||
<dynamics friction="0.035"/>
|
||||
</joint>
|
||||
<joint name="thumb_joint_2" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="0.35" lower="-0.279244444444" upper="1.727825" velocity="6.283"/>
|
||||
<origin rpy="3.1415 -1.57075 0.0" xyz="0 0 0.0554"/>
|
||||
<parent link="thumb_link_1"/>
|
||||
<child link="thumb_link_2"/>
|
||||
<dynamics friction="0.035"/>
|
||||
</joint>
|
||||
<joint name="thumb_joint_3" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="0.35" lower="-0.279244444444" upper="1.76273055556" velocity="6.283"/>
|
||||
<origin rpy="0.0 0.0 0.0" xyz="0.0514 0.0 0.0"/>
|
||||
<parent link="thumb_link_2"/>
|
||||
<child link="thumb_link_3"/>
|
||||
<dynamics friction="0.035"/>
|
||||
</joint>
|
||||
<joint name="thumb_biotac_tip_joint" type="fixed">
|
||||
<origin rpy="0 0 0.436319444444 " xyz="0.07 0.01 0"/>
|
||||
<parent link="thumb_link_3"/>
|
||||
<child link="thumb_biotac_tip"/>
|
||||
</joint>
|
||||
|
||||
</robot>
|
||||
@@ -0,0 +1,414 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from lula_kuka_allegro.urdf.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<robot name="kuka_iiwa" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<material name="Black">
|
||||
<color rgba="0.0 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="Blue">
|
||||
<color rgba="0.0 0.0 0.8 1.0"/>
|
||||
</material>
|
||||
<material name="Green">
|
||||
<color rgba="0.0 0.8 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="Grey">
|
||||
<color rgba="0.4 0.4 0.4 1.0"/>
|
||||
</material>
|
||||
<material name="Orange">
|
||||
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
|
||||
</material>
|
||||
<material name="Brown">
|
||||
<color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
|
||||
</material>
|
||||
<material name="Red">
|
||||
<color rgba="0.8 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="White">
|
||||
<color rgba="1.0 1.0 1.0 1.0"/>
|
||||
</material>
|
||||
<link name="base_link"/>
|
||||
<!--joint between {parent} and link_0-->
|
||||
<joint name="iiwa7_base_link_iiwa7_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="iiwa7_link_0"/>
|
||||
</joint>
|
||||
<link name="iiwa7_link_0">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.1 0 0.07"/>
|
||||
<mass value="5"/>
|
||||
<inertia ixx="0.05" ixy="0" ixz="0" iyy="0.06" iyz="0" izz="0.03"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/iiwa7/visual/link_0.obj"/>
|
||||
</geometry>
|
||||
<material name="Grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/iiwa7/collision/link_0.obj"/>
|
||||
</geometry>
|
||||
<material name="Grey"/>
|
||||
</collision>
|
||||
<self_collision_checking>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<capsule length="0.25" radius="0.15"/>
|
||||
</geometry>
|
||||
</self_collision_checking>
|
||||
</link>
|
||||
<!-- joint between link_0 and link_1 -->
|
||||
<joint name="iiwa7_joint_1" type="revolute">
|
||||
<parent link="iiwa7_link_0"/>
|
||||
<child link="iiwa7_link_1"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.15"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
|
||||
<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.93215314335" soft_upper_limit="2.93215314335"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="iiwa7_link_1">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.03 0.12"/>
|
||||
<mass value="3.4525"/>
|
||||
<inertia ixx="0.02183" ixy="0" ixz="0" iyy="0.007703" iyz="-0.003887" izz="0.02083"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.0075"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/iiwa7/visual/link_1.obj"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.0075"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/iiwa7/collision/link_1.obj"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="iiwa7_joint_2" type="revolute">
|
||||
<parent link="iiwa7_link_1"/>
|
||||
<child link="iiwa7_link_2"/>
|
||||
<origin rpy="1.57079632679 0 3.14159265359" xyz="0 0 0.19"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
|
||||
<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.05948851735" soft_upper_limit="2.05948851735"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="iiwa7_link_2">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0003 0.059 0.042"/>
|
||||
<mass value="3.4821"/>
|
||||
<inertia ixx="0.02076" ixy="0" ixz="-0.003626" iyy="0.02179" iyz="0" izz="0.00779"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/iiwa7/visual/link_2.obj"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/iiwa7/collision/link_2.obj"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="iiwa7_joint_3" type="revolute">
|
||||
<parent link="iiwa7_link_2"/>
|
||||
<child link="iiwa7_link_3"/>
|
||||
<origin rpy="1.57079632679 0 3.14159265359" xyz="0 0.21 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
|
||||
<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.93215314335" soft_upper_limit="2.93215314335"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="iiwa7_link_3">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0.03 0.13"/>
|
||||
<mass value="4.05623"/>
|
||||
<inertia ixx="0.03204" ixy="0" ixz="0" iyy="0.00972" iyz="0.006227" izz="0.03042"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.026"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/iiwa7/visual/link_3.obj"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.026"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/iiwa7/collision/link_3.obj"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="iiwa7_joint_4" type="revolute">
|
||||
<parent link="iiwa7_link_3"/>
|
||||
<child link="iiwa7_link_4"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0.19"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
|
||||
<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.05948851735" soft_upper_limit="2.05948851735"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="iiwa7_link_4">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0.067 0.034"/>
|
||||
<mass value="3.4822"/>
|
||||
<inertia ixx="0.02178" ixy="0" ixz="0" iyy="0.02075" iyz="-0.003625" izz="0.007785"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/iiwa7/visual/link_4.obj"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/iiwa7/collision/link_4.obj"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="iiwa7_joint_5" type="revolute">
|
||||
<parent link="iiwa7_link_4"/>
|
||||
<child link="iiwa7_link_5"/>
|
||||
<origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.21 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
|
||||
<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.93215314335" soft_upper_limit="2.93215314335"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="iiwa7_link_5">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0001 0.021 0.076"/>
|
||||
<mass value="2.1633"/>
|
||||
<inertia ixx="0.01287" ixy="0" ixz="0" iyy="0.005708" iyz="-0.003946" izz="0.01112"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.026"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/iiwa7/visual/link_5.obj"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.026"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/iiwa7/collision/link_5.obj"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="iiwa7_joint_6" type="revolute">
|
||||
<parent link="iiwa7_link_5"/>
|
||||
<child link="iiwa7_link_6"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0.06070 0.19"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
|
||||
<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.05948851735" soft_upper_limit="2.05948851735"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="iiwa7_link_6">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0.0006 0.0004"/>
|
||||
<mass value="2.3466"/>
|
||||
<inertia ixx="0.006509" ixy="0" ixz="0" iyy="0.006259" iyz="0.00031891" izz="0.004527"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/iiwa7/visual/link_6.obj"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/iiwa7/collision/link_6.obj"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="iiwa7_joint_7" type="revolute">
|
||||
<parent link="iiwa7_link_6"/>
|
||||
<child link="iiwa7_link_7"/>
|
||||
<origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.081 0.06070"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-3.05432619099" upper="3.05432619099" velocity="10"/>
|
||||
<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-3.01941960595" soft_upper_limit="3.01941960595"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="iiwa7_link_7">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.02"/>
|
||||
<mass value="3.129"/>
|
||||
<inertia ixx="0.01464" ixy="0.0005912" ixz="0" iyy="0.01465" iyz="0" izz="0.002872"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.0005"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/iiwa7/visual/link_7.obj"/>
|
||||
</geometry>
|
||||
<material name="Grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.0005"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/iiwa7/collision/link_7.obj"/>
|
||||
</geometry>
|
||||
<material name="Grey"/>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="iiwa7_joint_ee" type="fixed">
|
||||
<parent link="iiwa7_link_7"/>
|
||||
<child link="iiwa7_link_ee"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.071"/>
|
||||
</joint>
|
||||
<link name="iiwa7_link_ee">
|
||||
</link>
|
||||
<!-- Load Gazebo lib and set the robot namespace -->
|
||||
<!-- <gazebo>
|
||||
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
|
||||
<robotNamespace>/${robot_name}</robotNamespace>
|
||||
</plugin>
|
||||
</gazebo> -->
|
||||
<!-- Link0 -->
|
||||
<gazebo reference="iiwa7_link_0">
|
||||
<material>Gazebo/Grey</material>
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
</gazebo>
|
||||
<!-- Link1 -->
|
||||
<gazebo reference="iiwa7_link_1">
|
||||
<material>Gazebo/Orange</material>
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
</gazebo>
|
||||
<!-- Link2 -->
|
||||
<gazebo reference="iiwa7_link_2">
|
||||
<material>Gazebo/Orange</material>
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
</gazebo>
|
||||
<!-- Link3 -->
|
||||
<gazebo reference="iiwa7_link_3">
|
||||
<material>Gazebo/Orange</material>
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
</gazebo>
|
||||
<!-- Link4 -->
|
||||
<gazebo reference="iiwa7_link_4">
|
||||
<material>Gazebo/Orange</material>
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
</gazebo>
|
||||
<!-- Link5 -->
|
||||
<gazebo reference="iiwa7_link_5">
|
||||
<material>Gazebo/Orange</material>
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
</gazebo>
|
||||
<!-- Link6 -->
|
||||
<gazebo reference="iiwa7_link_6">
|
||||
<material>Gazebo/Orange</material>
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
</gazebo>
|
||||
<!-- Link7 -->
|
||||
<gazebo reference="iiwa7_link_7">
|
||||
<material>Gazebo/Grey</material>
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
</gazebo>
|
||||
<transmission name="iiwa7_tran_1">
|
||||
<robotNamespace>/iiwa7</robotNamespace>
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="iiwa7_joint_1">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="iiwa7_motor_1">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="iiwa7_tran_2">
|
||||
<robotNamespace>/iiwa7</robotNamespace>
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="iiwa7_joint_2">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="iiwa7_motor_2">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="iiwa7_tran_3">
|
||||
<robotNamespace>/iiwa7</robotNamespace>
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="iiwa7_joint_3">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="iiwa7_motor_3">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="iiwa7_tran_4">
|
||||
<robotNamespace>/iiwa7</robotNamespace>
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="iiwa7_joint_4">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="iiwa7_motor_4">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="iiwa7_tran_5">
|
||||
<robotNamespace>/iiwa7</robotNamespace>
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="iiwa7_joint_5">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="iiwa7_motor_5">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="iiwa7_tran_6">
|
||||
<robotNamespace>/iiwa7</robotNamespace>
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="iiwa7_joint_6">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="iiwa7_motor_6">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="iiwa7_tran_7">
|
||||
<robotNamespace>/iiwa7</robotNamespace>
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="iiwa7_joint_7">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="iiwa7_motor_7">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
</robot>
|
||||
@@ -0,0 +1,973 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!-- This file was autogenerated but we have modified quite a bit
|
||||
Authors: Karl, Ankur
|
||||
|
||||
Karl did the dynamics compensation and obtained the following values for the index finger
|
||||
|
||||
Noise: 0.111576
|
||||
Masses: 0.005, 0.125164, 0.131691, 0.0211922,
|
||||
Rotor Inertia: 0.00386572, 0.00346965, 0.00433775, 0.00366413,
|
||||
Viscous Friction: 0.0414019, 0.00587541, 0.010638, 0.0226948,
|
||||
Coulomb Friction: 0.0523963, 0.0150275, 0.00616359, 0.0227036,
|
||||
Mass Inertia:
|
||||
5.1458e-05, 5.1458e-05, 6.125e-05, 0, 0, 0,
|
||||
6.39979e-06, 8.88687e-05, 9.13751e-05, -3.26531e-06, 1.23963e-05, 2.07384e-05,
|
||||
7.04217e-05, 3.95744e-05, 6.61125e-05, -9.64342e-05, 5.8796e-05, -3.62996e-05,
|
||||
2.93743e-05, 7.21391e-05, 7.59731e-05, -3.51896e-05, -6.31225e-05, -9.25392e-07,
|
||||
|
||||
Center of Mass:
|
||||
0, 0, 0,
|
||||
0.027, 0, 0,
|
||||
0.038, 0, 0,
|
||||
0.029, 0, 0,
|
||||
|
||||
-->
|
||||
|
||||
<robot name="iiwa_allegro" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<material name="Black">
|
||||
<color rgba="0.0 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="Blue">
|
||||
<color rgba="0.0 0.0 0.8 1.0"/>
|
||||
</material>
|
||||
<material name="Green">
|
||||
<color rgba="0.0 0.8 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="Grey">
|
||||
<color rgba="0.4 0.4 0.4 1.0"/>
|
||||
</material>
|
||||
<material name="Orange">
|
||||
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
|
||||
</material>
|
||||
<material name="Brown">
|
||||
<color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
|
||||
</material>
|
||||
<material name="Red">
|
||||
<color rgba="0.8 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="White">
|
||||
<color rgba="1.0 1.0 1.0 1.0"/>
|
||||
</material>
|
||||
<link name="base_link"/>
|
||||
<!--joint between {parent} and link_0-->
|
||||
<joint name="iiwa7_base_link_iiwa7_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="iiwa7_link_0"/>
|
||||
</joint>
|
||||
<link name="iiwa7_link_0">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.1 0 0.07"/>
|
||||
<mass value="5"/>
|
||||
<inertia ixx="0.05" ixy="0" ixz="0" iyy="0.06" iyz="0" izz="0.03"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/iiwa7/visual/link_0.obj"/>
|
||||
</geometry>
|
||||
<material name="Grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/iiwa7/collision/link_0.obj"/>
|
||||
</geometry>
|
||||
<material name="Grey"/>
|
||||
</collision>
|
||||
<self_collision_checking>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<capsule length="0.25" radius="0.15"/>
|
||||
</geometry>
|
||||
</self_collision_checking>
|
||||
</link>
|
||||
<!-- joint between link_0 and link_1 -->
|
||||
<joint name="iiwa7_joint_1" type="revolute">
|
||||
<parent link="iiwa7_link_0"/>
|
||||
<child link="iiwa7_link_1"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.15"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
|
||||
<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.93215314335" soft_upper_limit="2.93215314335"/>
|
||||
<dynamics damping="5.5" friction="0.025"/>
|
||||
</joint>
|
||||
<link name="iiwa7_link_1">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.03 0.12"/>
|
||||
<mass value="3.4525"/>
|
||||
<inertia ixx="0.02183" ixy="0" ixz="0" iyy="0.007703" iyz="-0.003887" izz="0.02083"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.0075"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/iiwa7/visual/link_1.obj"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.0075"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/iiwa7/collision/link_1.obj"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="iiwa7_joint_2" type="revolute">
|
||||
<parent link="iiwa7_link_1"/>
|
||||
<child link="iiwa7_link_2"/>
|
||||
<origin rpy="1.57079632679 0 3.14159265359" xyz="0 0 0.19"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
|
||||
<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.05948851735" soft_upper_limit="2.05948851735"/>
|
||||
<dynamics damping="5.55" friction="0.025"/>
|
||||
</joint>
|
||||
<link name="iiwa7_link_2">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0003 0.059 0.042"/>
|
||||
<mass value="3.4821"/>
|
||||
<inertia ixx="0.02076" ixy="0" ixz="-0.003626" iyy="0.02179" iyz="0" izz="0.00779"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/iiwa7/visual/link_2.obj"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/iiwa7/collision/link_2.obj"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="iiwa7_joint_3" type="revolute">
|
||||
<parent link="iiwa7_link_2"/>
|
||||
<child link="iiwa7_link_3"/>
|
||||
<origin rpy="1.57079632679 0 3.14159265359" xyz="0 0.21 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
|
||||
<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.93215314335" soft_upper_limit="2.93215314335"/>
|
||||
<dynamics damping="5.5" friction="0.025"/>
|
||||
</joint>
|
||||
<link name="iiwa7_link_3">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0.03 0.13"/>
|
||||
<mass value="4.05623"/>
|
||||
<inertia ixx="0.03204" ixy="0" ixz="0" iyy="0.00972" iyz="0.006227" izz="0.03042"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.026"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/iiwa7/visual/link_3.obj"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.026"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/iiwa7/collision/link_3.obj"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="iiwa7_joint_4" type="revolute">
|
||||
<parent link="iiwa7_link_3"/>
|
||||
<child link="iiwa7_link_4"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0.19"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
|
||||
<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.05948851735" soft_upper_limit="2.05948851735"/>
|
||||
<dynamics damping="5.5" friction="0.025"/>
|
||||
</joint>
|
||||
<link name="iiwa7_link_4">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0.067 0.034"/>
|
||||
<mass value="3.4822"/>
|
||||
<inertia ixx="0.02178" ixy="0" ixz="0" iyy="0.02075" iyz="-0.003625" izz="0.007785"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/iiwa7/visual/link_4.obj"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/iiwa7/collision/link_4.obj"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="iiwa7_joint_5" type="revolute">
|
||||
<parent link="iiwa7_link_4"/>
|
||||
<child link="iiwa7_link_5"/>
|
||||
<origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.21 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
|
||||
<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.93215314335" soft_upper_limit="2.93215314335"/>
|
||||
<dynamics damping="5.5" friction="0.025"/>
|
||||
</joint>
|
||||
<link name="iiwa7_link_5">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0001 0.021 0.076"/>
|
||||
<mass value="2.1633"/>
|
||||
<inertia ixx="0.01287" ixy="0" ixz="0" iyy="0.005708" iyz="-0.003946" izz="0.01112"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.026"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/iiwa7/visual/link_5.obj"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.026"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/iiwa7/collision/link_5.obj"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="iiwa7_joint_6" type="revolute">
|
||||
<parent link="iiwa7_link_5"/>
|
||||
<child link="iiwa7_link_6"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0.06070 0.19"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
|
||||
<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.05948851735" soft_upper_limit="2.05948851735"/>
|
||||
<dynamics damping="0.5" friction="0.025"/>
|
||||
</joint>
|
||||
<link name="iiwa7_link_6">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0.0006 0.0004"/>
|
||||
<mass value="2.3466"/>
|
||||
<inertia ixx="0.006509" ixy="0" ixz="0" iyy="0.006259" iyz="0.00031891" izz="0.004527"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/iiwa7/visual/link_6.obj"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/iiwa7/collision/link_6.obj"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="iiwa7_joint_7" type="revolute">
|
||||
<parent link="iiwa7_link_6"/>
|
||||
<child link="iiwa7_link_7"/>
|
||||
<origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.081 0.06070"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-3.05432619099" upper="3.05432619099" velocity="10"/>
|
||||
<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-3.01941960595" soft_upper_limit="3.01941960595"/>
|
||||
<dynamics damping="5.5" friction="0.025"/>
|
||||
</joint>
|
||||
<link name="iiwa7_link_7">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.02"/>
|
||||
<mass value="3.129"/>
|
||||
<inertia ixx="0.01464" ixy="0.0005912" ixz="0" iyy="0.01465" iyz="0" izz="0.002872"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.0005"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/iiwa7/visual/link_7.obj"/>
|
||||
</geometry>
|
||||
<material name="Grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.0005"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/iiwa7/collision/link_7.obj"/>
|
||||
</geometry>
|
||||
<material name="Grey"/>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="iiwa7_joint_ee" type="fixed">
|
||||
<parent link="iiwa7_link_7"/>
|
||||
<child link="iiwa7_link_ee"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.071"/>
|
||||
<dynamics damping="5.5" friction="0.025"/>
|
||||
</joint>
|
||||
<link name="iiwa7_link_ee">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.0"/>
|
||||
<mass value="0.1"/>
|
||||
<inertia ixx="1e-3" ixy="0.0" ixz="0" iyy="1e-3" iyz="0" izz="1e-3"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<!-- Load Gazebo lib and set the robot namespace -->
|
||||
<!-- <gazebo>
|
||||
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
|
||||
<robotNamespace>/${robot_name}</robotNamespace>
|
||||
</plugin>
|
||||
</gazebo> -->
|
||||
<!-- Link0 -->
|
||||
<gazebo reference="iiwa7_link_0">
|
||||
<material>Gazebo/Grey</material>
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
</gazebo>
|
||||
<!-- Link1 -->
|
||||
<gazebo reference="iiwa7_link_1">
|
||||
<material>Gazebo/Orange</material>
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
</gazebo>
|
||||
<!-- Link2 -->
|
||||
<gazebo reference="iiwa7_link_2">
|
||||
<material>Gazebo/Orange</material>
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
</gazebo>
|
||||
<!-- Link3 -->
|
||||
<gazebo reference="iiwa7_link_3">
|
||||
<material>Gazebo/Orange</material>
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
</gazebo>
|
||||
<!-- Link4 -->
|
||||
<gazebo reference="iiwa7_link_4">
|
||||
<material>Gazebo/Orange</material>
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
</gazebo>
|
||||
<!-- Link5 -->
|
||||
<gazebo reference="iiwa7_link_5">
|
||||
<material>Gazebo/Orange</material>
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
</gazebo>
|
||||
<!-- Link6 -->
|
||||
<gazebo reference="iiwa7_link_6">
|
||||
<material>Gazebo/Orange</material>
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
</gazebo>
|
||||
<!-- Link7 -->
|
||||
<gazebo reference="iiwa7_link_7">
|
||||
<material>Gazebo/Grey</material>
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
</gazebo>
|
||||
<transmission name="iiwa7_tran_1">
|
||||
<robotNamespace>/iiwa7</robotNamespace>
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="iiwa7_joint_1">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="iiwa7_motor_1">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="iiwa7_tran_2">
|
||||
<robotNamespace>/iiwa7</robotNamespace>
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="iiwa7_joint_2">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="iiwa7_motor_2">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="iiwa7_tran_3">
|
||||
<robotNamespace>/iiwa7</robotNamespace>
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="iiwa7_joint_3">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="iiwa7_motor_3">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="iiwa7_tran_4">
|
||||
<robotNamespace>/iiwa7</robotNamespace>
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="iiwa7_joint_4">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="iiwa7_motor_4">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="iiwa7_tran_5">
|
||||
<robotNamespace>/iiwa7</robotNamespace>
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="iiwa7_joint_5">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="iiwa7_motor_5">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="iiwa7_tran_6">
|
||||
<robotNamespace>/iiwa7</robotNamespace>
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="iiwa7_joint_6">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="iiwa7_motor_6">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="iiwa7_tran_7">
|
||||
<robotNamespace>/iiwa7</robotNamespace>
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="iiwa7_joint_7">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="iiwa7_motor_7">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<!-- ======================== BASE PARAMS ========================= -->
|
||||
<!-- ======================== FINGER PARAMS ======================== -->
|
||||
<!-- full height from joint to tip. when used,
|
||||
the radius of the finger tip sphere will be subtracted
|
||||
and one fixed link will be added for the tip. -->
|
||||
<!-- ========================= THUMB PARAMS ========================= -->
|
||||
<!-- ========================= LIMITS ========================= -->
|
||||
<!-- ============================================================================= -->
|
||||
<!-- BASE -->
|
||||
|
||||
<link name="allegro_mount">
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="1e-4" ixy="0" ixz="0" iyy="1e-4" iyz="0" izz="1e-4"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<!-- <origin xyz="-0.0425 -0.0425 0" rpy="0 0 0" /> -->
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/mounts/allegro_mount.obj"/>
|
||||
</geometry>
|
||||
<material name="color_j7"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<!-- <origin xyz="-0.0425 -0.0425 0" rpy="0 0 0" /> -->
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/mounts/allegro_mount.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- <joint name="allegro_mount_joint1" type="fixed">
|
||||
|
||||
<origin rpy="0 0 0" xyz="-0.00 -0.0 0.0"/>
|
||||
<parent link="iiwa7_link_ee"/>
|
||||
<child link="allegro_mount"/>
|
||||
|
||||
</joint> -->
|
||||
<joint name="allegro_mount_joint" type="fixed">
|
||||
<!-- <origin xyz="0.065 0 0.0275" rpy="0 1.57 0" /> -->
|
||||
<origin rpy="0 -1.5708 0.785398" xyz="0.008219 -0.02063 0.08086"/>
|
||||
<parent link="allegro_mount"/>
|
||||
<child link="palm_link"/>
|
||||
|
||||
</joint>
|
||||
|
||||
<!-- BASE -->
|
||||
<link name="palm_link">
|
||||
<inertial>
|
||||
<mass value="0.4154"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="1e-4" ixy="0" ixz="0" iyy="1e-4" iyz="0" izz="1e-4"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/allegro/base_link.obj"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0 "/>
|
||||
<material name="Grey">
|
||||
<color rgba="0.2 0.2 0.2 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/allegro/base_link.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<gazebo reference="palm_link">
|
||||
<material value="Gazebo/Grey"/>
|
||||
</gazebo>
|
||||
<!-- ============================================================================= -->
|
||||
<!-- FINGERS -->
|
||||
<!-- RIGHT HAND due to which finger is number 0 -->
|
||||
<!-- for LEFT HAND switch the sign of the **offset_origin_y** and **finger_angle_r** parameters-->
|
||||
<!-- [LINK 0, 4, 8] -->
|
||||
<link name="index_link_0">
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/allegro/primary_base.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.005"/>
|
||||
<origin xyz="0 0 0"/>
|
||||
<inertia ixx="5.1458e-05" iyy="5.1458e-05" izz="6.125e-05" ixy="0" ixz="0" iyz="0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/allegro/primary_base.obj"/>
|
||||
</geometry>
|
||||
<material name="Grey">
|
||||
<color rgba="0.2 0.2 0.2 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="index_link_1">
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/allegro/primary_proximal.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.125164"/>
|
||||
<origin xyz="0.027 0 0"/>
|
||||
<inertia ixx="6.39979e-06" iyy="8.88687e-05" izz="9.13751e-05" ixy="-3.26531e-06" ixz="1.23963e-05" iyz="2.07384e-05"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/allegro/primary_proximal.obj"/>
|
||||
</geometry>
|
||||
<material name="Grey">
|
||||
<color rgba="0.2 0.2 0.2 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="index_link_2">
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/allegro/primary_medial.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.131691"/>
|
||||
<origin xyz="0.039 0 0"/>
|
||||
<inertia ixx="7.04217e-05" iyy="3.95744e-05" izz="6.61125e-05" ixy="-9.64342e-05" ixz="5.8796e-05" iyz="-3.62996e-05"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/allegro/primary_medial.obj"/>
|
||||
</geometry>
|
||||
<material name="Grey">
|
||||
<color rgba="0.2 0.2 0.2 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="index_link_3">
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/biotac/biotac_sensor.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.0211922"/>
|
||||
<origin xyz="0.029 0 0"/>
|
||||
<inertia ixx="2.93743e-05" iyy="7.21391e-05" izz="7.59731e-05" ixy="-3.51896e-05" ixz="-6.31225e-05" iyz="-9.25392e-07"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/biotac/biotac_sensor.obj"/>
|
||||
</geometry>
|
||||
<material name="Green">
|
||||
<color rgba="0. 0.5 0. 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="middle_link_0">
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/allegro/primary_base.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.005"/>
|
||||
<origin xyz="0 0 0"/>
|
||||
<inertia ixx="5.1458e-05" iyy="5.1458e-05" izz="6.125e-05" ixy="0" ixz="0" iyz="0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/allegro/primary_base.obj"/>
|
||||
</geometry>
|
||||
<material name="Grey">
|
||||
<color rgba="0.2 0.2 0.2 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="middle_link_1">
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/allegro/primary_proximal.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.125164"/>
|
||||
<origin xyz="0.027 0 0"/>
|
||||
<inertia ixx="6.39979e-06" iyy="8.88687e-05" izz="9.13751e-05" ixy="-3.26531e-06" ixz="1.23963e-05" iyz="2.07384e-05"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/allegro/primary_proximal.obj"/>
|
||||
</geometry>
|
||||
<material name="Grey">
|
||||
<color rgba="0.2 0.2 0.2 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="middle_link_2">
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/allegro/primary_medial.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.131691"/>
|
||||
<origin xyz="0.039 0 0"/>
|
||||
<inertia ixx="7.04217e-05" iyy="3.95744e-05" izz="6.61125e-05" ixy="-9.64342e-05" ixz="5.8796e-05" iyz="-3.62996e-05"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/allegro/primary_medial.obj"/>
|
||||
</geometry>
|
||||
<material name="Grey">
|
||||
<color rgba="0.2 0.2 0.2 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="middle_link_3">
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/biotac/biotac_sensor.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.0211922"/>
|
||||
<origin xyz="0.029 0 0"/>
|
||||
<inertia ixx="2.93743e-05" iyy="7.21391e-05" izz="7.59731e-05" ixy="-3.51896e-05" ixz="-6.31225e-05" iyz="-9.25392e-07"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/biotac/biotac_sensor.obj"/>
|
||||
</geometry>
|
||||
<material name="Green">
|
||||
<color rgba="0 0.5 0 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="ring_link_0">
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/allegro/primary_base.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.005"/>
|
||||
<origin xyz="0 0 0"/>
|
||||
<inertia ixx="5.1458e-05" iyy="5.1458e-05" izz="6.125e-05" ixy="0" ixz="0" iyz="0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/allegro/primary_base.obj"/>
|
||||
</geometry>
|
||||
<material name="Grey">
|
||||
<color rgba="0.2 0.2 0.2 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="ring_link_1">
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/allegro/primary_proximal.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.125164"/>
|
||||
<origin xyz="0.027 0 0"/>
|
||||
<inertia ixx="6.39979e-06" iyy="8.88687e-05" izz="9.13751e-05" ixy="-3.26531e-06" ixz="1.23963e-05" iyz="2.07384e-05"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/allegro/primary_proximal.obj"/>
|
||||
</geometry>
|
||||
<material name="Grey">
|
||||
<color rgba="0.2 0.2 0.2 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="ring_link_2">
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/allegro/primary_medial.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.131691"/>
|
||||
<origin xyz="0.039 0 0"/>
|
||||
<inertia ixx="7.04217e-05" iyy="3.95744e-05" izz="6.61125e-05" ixy="-9.64342e-05" ixz="5.8796e-05" iyz="-3.62996e-05"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/allegro/primary_medial.obj"/>
|
||||
</geometry>
|
||||
<material name="Grey">
|
||||
<color rgba="0.2 0.2 0.2 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="ring_link_3">
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/biotac/biotac_sensor.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.0211922"/>
|
||||
<origin xyz="0.029 0 0"/>
|
||||
<inertia ixx="2.93743e-05" iyy="7.21391e-05" izz="7.59731e-05" ixy="-3.51896e-05" ixz="-6.31225e-05" iyz="-9.25392e-07"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/biotac/biotac_sensor.obj"/>
|
||||
</geometry>
|
||||
<material name="Green">
|
||||
<color rgba="0 0.5 0 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="thumb_link_0">
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/allegro/thumb_base.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1"/>
|
||||
<inertia ixx="5.1458e-5" ixy="0" ixz="0" iyy="5.1458e-5" iyz="0" izz="6.125e-5"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/allegro/thumb_base.obj"/>
|
||||
</geometry>
|
||||
<material name="Grey">
|
||||
<color rgba="0.2 0.2 0.2 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="thumb_link_1">
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/allegro/thumb_proximal.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1"/>
|
||||
<inertia ixx="5.1458e-5" ixy="0" ixz="0" iyy="5.1458e-5" iyz="0" izz="6.125e-5"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/allegro/thumb_proximal.obj"/>
|
||||
</geometry>
|
||||
<material name="Grey">
|
||||
<color rgba="0.2 0.2 0.2 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="thumb_link_2">
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/allegro/thumb_medial.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1"/>
|
||||
<inertia ixx="5.1458e-5" ixy="0" ixz="0" iyy="5.1458e-5" iyz="0" izz="6.125e-5"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/allegro/thumb_medial.obj"/>
|
||||
</geometry>
|
||||
<material name="Grey">
|
||||
<color rgba="0.2 0.2 0.2 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="thumb_link_3">
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/biotac/biotac_sensor_thumb.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1"/>
|
||||
<inertia ixx="5.1458e-5" ixy="0" ixz="0" iyy="5.1458e-5" iyz="0" izz="6.125e-5"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/biotac/biotac_sensor_thumb.obj"/>
|
||||
</geometry>
|
||||
<material name="Green">
|
||||
<color rgba="0 0.5 0 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name="index_joint_0" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="0.35" lower="-0.558488888889" upper="0.558488888889" velocity="6.283"/>
|
||||
<origin rpy="3.1415 -1.57075 -0.0872638888889" xyz="0.0514302 -0.03632 -0.0113"/>
|
||||
<parent link="palm_link"/>
|
||||
<child link="index_link_0"/>
|
||||
<dynamics damping="0.0414019" friction="0.0523963"/>
|
||||
</joint>
|
||||
<joint name="index_joint_1" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="0.35" lower="-0.279244444444" upper="1.727825" velocity="6.283"/>
|
||||
<origin rpy="3.1415 -1.57075 1.57075" xyz="0.0 0.0 0.0"/>
|
||||
<parent link="index_link_0"/>
|
||||
<child link="index_link_1"/>
|
||||
<dynamics damping="0.00587541" friction="0.0150275"/>
|
||||
</joint>
|
||||
<joint name="index_joint_2" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="0.35" lower="-0.279244444444" upper="1.727825" velocity="6.283"/>
|
||||
<origin rpy="0.0 0.0 0.0" xyz="0.054 0.0 0.0"/>
|
||||
<parent link="index_link_1"/>
|
||||
<child link="index_link_2"/>
|
||||
<dynamics damping="0.010638" friction="0.00616359"/>
|
||||
</joint>
|
||||
<joint name="index_joint_3" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="0.35" lower="-0.279244444444" upper="1.727825" velocity="6.283"/>
|
||||
<origin rpy="0.0 0.0 0.0" xyz="0.0384 0.0 0.0"/>
|
||||
<parent link="index_link_2"/>
|
||||
<child link="index_link_3"/>
|
||||
<dynamics damping="0.0226948" friction="0.0227036"/>
|
||||
</joint>
|
||||
<joint name="middle_joint_0" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="0.35" lower="-0.558488888889" upper="0.558488888889" velocity="6.283"/>
|
||||
<origin rpy="3.1415 -1.57075 0" xyz="0.0537375 0.0087771 -0.0113"/>
|
||||
<parent link="palm_link"/>
|
||||
<child link="middle_link_0"/>
|
||||
<dynamics damping="0.0414019" friction="0.0523963"/>
|
||||
</joint>
|
||||
<joint name="middle_joint_1" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="0.35" lower="-0.279244444444" upper="1.727825" velocity="6.283"/>
|
||||
<origin rpy="3.1415 -1.57075 1.57075" xyz="0.0 0.0 0.0"/>
|
||||
<parent link="middle_link_0"/>
|
||||
<child link="middle_link_1"/>
|
||||
<dynamics damping="0.00587541" friction="0.0150275"/>
|
||||
</joint>
|
||||
<joint name="middle_joint_2" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="0.35" lower="-0.279244444444" upper="1.727825" velocity="6.283"/>
|
||||
<origin rpy="0.0 0.0 0.0" xyz="0.054 0.0 0.0"/>
|
||||
<parent link="middle_link_1"/>
|
||||
<child link="middle_link_2"/>
|
||||
<dynamics damping="0.010638" friction="0.00616359"/>
|
||||
</joint>
|
||||
<joint name="middle_joint_3" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="0.35" lower="-0.279244444444" upper="1.727825" velocity="6.283"/>
|
||||
<origin rpy="0.0 0.0 0.0" xyz="0.0384 0.0 0.0"/>
|
||||
<parent link="middle_link_2"/>
|
||||
<child link="middle_link_3"/>
|
||||
<dynamics damping="0.0226948" friction="0.0227036"/>
|
||||
</joint>
|
||||
<joint name="ring_joint_0" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="0.35" lower="-0.558488888889" upper="0.558488888889" velocity="6.283"/>
|
||||
<origin rpy="3.1415 -1.57075 0.0872638888889" xyz="0.0514302 0.0538749 -0.0113"/>
|
||||
<parent link="palm_link"/>
|
||||
<child link="ring_link_0"/>
|
||||
<dynamics damping="0.0414019" friction="0.0523963"/>
|
||||
</joint>
|
||||
<joint name="ring_joint_1" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="0.35" lower="-0.279244444444" upper="1.727825" velocity="6.283"/>
|
||||
<origin rpy="3.1415 -1.57075 1.57075" xyz="0.0 0.0 0.0"/>
|
||||
<parent link="ring_link_0"/>
|
||||
<child link="ring_link_1"/>
|
||||
<dynamics damping="0.00587541" friction="0.0150275"/>
|
||||
</joint>
|
||||
<joint name="ring_joint_2" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="0.35" lower="-0.279244444444" upper="1.727825" velocity="6.283"/>
|
||||
<origin rpy="0.0 0.0 0.0" xyz="0.054 0.0 0.0"/>
|
||||
<parent link="ring_link_1"/>
|
||||
<child link="ring_link_2"/>
|
||||
<dynamics damping="0.010638" friction="0.00616359"/>
|
||||
</joint>
|
||||
<joint name="ring_joint_3" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="0.35" lower="-0.279244444444" upper="1.727825" velocity="6.283"/>
|
||||
<origin rpy="0.0 0.0 0.0" xyz="0.0384 0.0 0.0"/>
|
||||
<parent link="ring_link_2"/>
|
||||
<child link="ring_link_3"/>
|
||||
<dynamics damping="0.0226948" friction="0.0227036"/>
|
||||
</joint>
|
||||
<joint name="thumb_joint_0" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="0.35" lower="0.279244444444" upper="1.57075" velocity="6.283"/>
|
||||
<origin rpy="-1.57075 -1.57075 1.48348611111" xyz="-0.0367482 -0.0081281 -0.0295"/>
|
||||
<parent link="palm_link"/>
|
||||
<child link="thumb_link_0"/>
|
||||
<dynamics friction="0.035"/>
|
||||
</joint>
|
||||
<joint name="thumb_joint_1" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="0.35" lower="-0.331602777778" upper="1.15188333333" velocity="6.283"/>
|
||||
<origin rpy="1.57075 0 0" xyz="0.005 0.0 0.0"/>
|
||||
<parent link="thumb_link_0"/>
|
||||
<child link="thumb_link_1"/>
|
||||
<dynamics friction="0.035"/>
|
||||
</joint>
|
||||
<joint name="thumb_joint_2" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="0.35" lower="-0.279244444444" upper="1.727825" velocity="6.283"/>
|
||||
<origin rpy="3.1415 -1.57075 0.0" xyz="0 0 0.0554"/>
|
||||
<parent link="thumb_link_1"/>
|
||||
<child link="thumb_link_2"/>
|
||||
<dynamics friction="0.035"/>
|
||||
</joint>
|
||||
<joint name="thumb_joint_3" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="0.35" lower="-0.279244444444" upper="1.76273055556" velocity="6.283"/>
|
||||
<origin rpy="0.0 0.0 0.0" xyz="0.0514 0.0 0.0"/>
|
||||
<parent link="thumb_link_2"/>
|
||||
<child link="thumb_link_3"/>
|
||||
<dynamics friction="0.035"/>
|
||||
</joint>
|
||||
<!-- ============================================================================= -->
|
||||
|
||||
<!-- Create a different *root* for the allegro hand -->
|
||||
<!-- Note: this offset is just eyeballed... -->
|
||||
<joint name="iiwa7_allegro" type="fixed">
|
||||
<parent link="iiwa7_link_ee"/>
|
||||
<child link="allegro_mount"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
</robot>
|
||||
693
src/curobo/content/assets/robot/jaco/jaco_7n.urdf
Normal file
693
src/curobo/content/assets/robot/jaco/jaco_7n.urdf
Normal file
@@ -0,0 +1,693 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from j2n7s300_standalone.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<!-- j2n7s300 refers to jaco v2 7DOF non-spherical service 3fingers -->
|
||||
<robot name="j2n7s300" xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz" xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint" xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model" xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics" xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable" xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:xi="http://www.w3.org/2001/XInclude">
|
||||
<!-- links mesh_no
|
||||
base 0
|
||||
shoulder 1
|
||||
arm 2
|
||||
forearm 3
|
||||
wrist 4
|
||||
arm_mico 5
|
||||
arm_half1 (7dof) 6
|
||||
arm_half2 (7dof) 7
|
||||
wrist_spherical_1 8
|
||||
wrist_spherical_2 9
|
||||
|
||||
hand 3 finger 55
|
||||
hand_2finger 56
|
||||
finger_proximal 57
|
||||
finger_distal 58
|
||||
-->
|
||||
<!-- links mesh_no
|
||||
base 0
|
||||
shoulder 1
|
||||
arm 2
|
||||
forearm 3
|
||||
wrist 4
|
||||
arm_mico 5
|
||||
arm_half1 (7dof) 6
|
||||
arm_half2 (7dof) 7
|
||||
wrist_spherical_1 8
|
||||
wrist_spherical_2 9
|
||||
|
||||
hand 3 finger 55
|
||||
hand_2finger 56
|
||||
finger_proximal 57
|
||||
finger_distal 58
|
||||
-->
|
||||
<link name="root"/>
|
||||
<!-- for gazebo -->
|
||||
<link name="world"/>
|
||||
<joint name="connect_root_and_world" type="fixed">
|
||||
<child link="root"/>
|
||||
<parent link="world"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</joint>
|
||||
<!-- ros_control plugin -->
|
||||
<gazebo>
|
||||
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
|
||||
<robotNamespace>j2n7s300</robotNamespace>
|
||||
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
|
||||
<legacyModeNS>true</legacyModeNS>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
<link name="j2n7s300_link_base">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://kinova_description/meshes/base.dae"/>
|
||||
</geometry>
|
||||
<material name="carbon_fiber">
|
||||
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://kinova_description/meshes/base.dae"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.46784"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.1255"/>
|
||||
<inertia ixx="0.000951270861568" ixy="0" ixz="0" iyy="0.000951270861568" iyz="0" izz="0.00037427200000000004"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="j2n7s300_joint_base" type="fixed">
|
||||
<parent link="root"/>
|
||||
<child link="j2n7s300_link_base"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<dynamics damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<link name="j2n7s300_link_1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://kinova_description/meshes/shoulder.dae"/>
|
||||
</geometry>
|
||||
<material name="carbon_fiber">
|
||||
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://kinova_description/meshes/ring_big.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://kinova_description/meshes/shoulder.dae"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.7477"/>
|
||||
<origin xyz="0 -0.002 -0.0605"/>
|
||||
<inertia ixx="0.0015203172520400004" ixy="0" ixz="0" iyy="0.0015203172520400004" iyz="0" izz="0.00059816"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="j2n7s300_joint_1" type="continuous">
|
||||
<parent link="j2n7s300_link_base"/>
|
||||
<child link="j2n7s300_link_1"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="40" velocity="0.6283185307179586"/>
|
||||
<origin rpy="0 3.141592653589793 0" xyz="0 0 0.15675"/>
|
||||
<dynamics damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<transmission name="j2n7s300_joint_1_trans">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="j2n7s300_joint_1">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="j2n7s300_joint_1_actuator">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>160</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<!--For torque sensing in simulation-->
|
||||
<gazebo reference="j2n7s300_joint_1">
|
||||
<provideFeedback>true</provideFeedback>
|
||||
</gazebo>
|
||||
<gazebo>
|
||||
<plugin filename="libgazebo_ros_ft_sensor.so" name="ft_sensor">
|
||||
<updateRate>30.0</updateRate>
|
||||
<topicName>j2n7s300_joint_1_ft_sensor_topic</topicName>
|
||||
<jointName>j2n7s300_joint_1</jointName>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
<link name="j2n7s300_link_2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://kinova_description/meshes/arm_half_1.dae"/>
|
||||
</geometry>
|
||||
<material name="carbon_fiber">
|
||||
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://kinova_description/meshes/ring_big.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://kinova_description/meshes/arm_half_1.dae"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.8447"/>
|
||||
<origin xyz="0 -0.103563213 0"/>
|
||||
<inertia ixx="0.00247073761701" ixy="0" ixz="0" iyy="0.000380115" iyz="0" izz="0.00247073761701"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="j2n7s300_joint_2" type="revolute">
|
||||
<parent link="j2n7s300_link_1"/>
|
||||
<child link="j2n7s300_link_2"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="80" lower="0.5235987755982988" upper="5.759586531581287" velocity="0.6283185307179586"/>
|
||||
<origin rpy="-1.5707963267948966 0 3.141592653589793" xyz="0 0.0016 -0.11875"/>
|
||||
<dynamics damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<transmission name="j2n7s300_joint_2_trans">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="j2n7s300_joint_2">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="j2n7s300_joint_2_actuator">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>160</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<!--For torque sensing in simulation-->
|
||||
<gazebo reference="j2n7s300_joint_2">
|
||||
<provideFeedback>true</provideFeedback>
|
||||
</gazebo>
|
||||
<gazebo>
|
||||
<plugin filename="libgazebo_ros_ft_sensor.so" name="ft_sensor">
|
||||
<updateRate>30.0</updateRate>
|
||||
<topicName>j2n7s300_joint_2_ft_sensor_topic</topicName>
|
||||
<jointName>j2n7s300_joint_2</jointName>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
<link name="j2n7s300_link_3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://kinova_description/meshes/arm_half_2.dae"/>
|
||||
</geometry>
|
||||
<material name="carbon_fiber">
|
||||
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://kinova_description/meshes/ring_big.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://kinova_description/meshes/arm_half_2.dae"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.8447"/>
|
||||
<origin xyz="0 0 -0.1022447445"/>
|
||||
<inertia ixx="0.00247073761701" ixy="0" ixz="0" iyy="0.00247073761701" iyz="0" izz="0.000380115"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="j2n7s300_joint_3" type="continuous">
|
||||
<parent link="j2n7s300_link_2"/>
|
||||
<child link="j2n7s300_link_3"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="40" velocity="0.6283185307179586"/>
|
||||
<origin rpy="1.5707963267948966 0 3.141592653589793" xyz="0 -0.205 0"/>
|
||||
<dynamics damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<transmission name="j2n7s300_joint_3_trans">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="j2n7s300_joint_3">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="j2n7s300_joint_3_actuator">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>160</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<!--For torque sensing in simulation-->
|
||||
<gazebo reference="j2n7s300_joint_3">
|
||||
<provideFeedback>true</provideFeedback>
|
||||
</gazebo>
|
||||
<gazebo>
|
||||
<plugin filename="libgazebo_ros_ft_sensor.so" name="ft_sensor">
|
||||
<updateRate>30.0</updateRate>
|
||||
<topicName>j2n7s300_joint_3_ft_sensor_topic</topicName>
|
||||
<jointName>j2n7s300_joint_3</jointName>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
<link name="j2n7s300_link_4">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://kinova_description/meshes/forearm.dae"/>
|
||||
</geometry>
|
||||
<material name="carbon_fiber">
|
||||
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://kinova_description/meshes/ring_big.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://kinova_description/meshes/forearm.dae"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.6763"/>
|
||||
<origin xyz="0 0.081 -0.0086"/>
|
||||
<inertia ixx="0.0014202243190800001" ixy="0" ixz="0" iyy="0.000304335" iyz="0" izz="0.0014202243190800001"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="j2n7s300_joint_4" type="revolute">
|
||||
<parent link="j2n7s300_link_3"/>
|
||||
<child link="j2n7s300_link_4"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="40" lower="0.5235987755982988" upper="5.759586531581287" velocity="0.6283185307179586"/>
|
||||
<origin rpy="1.5707963267948966 0 3.141592653589793" xyz="0 0 -0.205"/>
|
||||
<dynamics damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<transmission name="j2n7s300_joint_4_trans">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="j2n7s300_joint_4">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="j2n7s300_joint_4_actuator">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>160</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<!--For torque sensing in simulation-->
|
||||
<gazebo reference="j2n7s300_joint_4">
|
||||
<provideFeedback>true</provideFeedback>
|
||||
</gazebo>
|
||||
<gazebo>
|
||||
<plugin filename="libgazebo_ros_ft_sensor.so" name="ft_sensor">
|
||||
<updateRate>30.0</updateRate>
|
||||
<topicName>j2n7s300_joint_4_ft_sensor_topic</topicName>
|
||||
<jointName>j2n7s300_joint_4</jointName>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
<link name="j2n7s300_link_5">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://kinova_description/meshes/wrist.dae"/>
|
||||
</geometry>
|
||||
<material name="carbon_fiber">
|
||||
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://kinova_description/meshes/ring_small.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://kinova_description/meshes/wrist.dae"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.426367"/>
|
||||
<origin xyz="0 -0.037 -0.0642"/>
|
||||
<inertia ixx="7.734969059999999e-05" ixy="0" ixz="0" iyy="7.734969059999999e-05" iyz="0" izz="0.0001428"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="j2n7s300_joint_5" type="continuous">
|
||||
<parent link="j2n7s300_link_4"/>
|
||||
<child link="j2n7s300_link_5"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="20" velocity="0.8377580409572781"/>
|
||||
<origin rpy="-1.5707963267948966 0 3.141592653589793" xyz="0 0.2073 -0.0114"/>
|
||||
<dynamics damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<transmission name="j2n7s300_joint_5_trans">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="j2n7s300_joint_5">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="j2n7s300_joint_5_actuator">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>160</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<!--For torque sensing in simulation-->
|
||||
<gazebo reference="j2n7s300_joint_5">
|
||||
<provideFeedback>true</provideFeedback>
|
||||
</gazebo>
|
||||
<gazebo>
|
||||
<plugin filename="libgazebo_ros_ft_sensor.so" name="ft_sensor">
|
||||
<updateRate>30.0</updateRate>
|
||||
<topicName>j2n7s300_joint_5_ft_sensor_topic</topicName>
|
||||
<jointName>j2n7s300_joint_5</jointName>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
<link name="j2n7s300_link_6">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://kinova_description/meshes/wrist.dae"/>
|
||||
</geometry>
|
||||
<material name="carbon_fiber">
|
||||
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://kinova_description/meshes/ring_small.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://kinova_description/meshes/wrist.dae"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.426367"/>
|
||||
<origin xyz="0 -0.037 -0.0642"/>
|
||||
<inertia ixx="7.734969059999999e-05" ixy="0" ixz="0" iyy="7.734969059999999e-05" iyz="0" izz="0.0001428"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="j2n7s300_joint_6" type="continuous">
|
||||
<parent link="j2n7s300_link_5"/>
|
||||
<child link="j2n7s300_link_6"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="20" velocity="0.8377580409572781"/>
|
||||
<origin rpy="1.0471975511965976 0 3.141592653589793" xyz="0 -0.03703 -0.06414"/>
|
||||
<dynamics damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<transmission name="j2n7s300_joint_6_trans">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="j2n7s300_joint_6">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="j2n7s300_joint_6_actuator">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>160</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<!--For torque sensing in simulation-->
|
||||
<gazebo reference="j2n7s300_joint_6">
|
||||
<provideFeedback>true</provideFeedback>
|
||||
</gazebo>
|
||||
<gazebo>
|
||||
<plugin filename="libgazebo_ros_ft_sensor.so" name="ft_sensor">
|
||||
<updateRate>30.0</updateRate>
|
||||
<topicName>j2n7s300_joint_6_ft_sensor_topic</topicName>
|
||||
<jointName>j2n7s300_joint_6</jointName>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
<link name="j2n7s300_link_7">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://kinova_description/meshes/hand_3finger.dae"/>
|
||||
</geometry>
|
||||
<material name="carbon_fiber">
|
||||
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://kinova_description/meshes/ring_small.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://kinova_description/meshes/hand_3finger.dae"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.99"/>
|
||||
<origin xyz="0 0 -0.06"/>
|
||||
<inertia ixx="0.00034532361869999995" ixy="0" ixz="0" iyy="0.00034532361869999995" iyz="0" izz="0.0005815999999999999"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="j2n7s300_joint_7" type="continuous">
|
||||
<parent link="j2n7s300_link_6"/>
|
||||
<child link="j2n7s300_link_7"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="20" velocity="0.8377580409572781"/>
|
||||
<origin rpy="1.0471975511965976 0 3.141592653589793" xyz="0 -0.03703 -0.06414"/>
|
||||
<dynamics damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<transmission name="j2n7s300_joint_7_trans">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="j2n7s300_joint_7">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="j2n7s300_joint_7_actuator">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>160</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<!--For torque sensing in simulation-->
|
||||
<gazebo reference="j2n7s300_joint_7">
|
||||
<provideFeedback>true</provideFeedback>
|
||||
</gazebo>
|
||||
<gazebo>
|
||||
<plugin filename="libgazebo_ros_ft_sensor.so" name="ft_sensor">
|
||||
<updateRate>30.0</updateRate>
|
||||
<topicName>j2n7s300_joint_7_ft_sensor_topic</topicName>
|
||||
<jointName>j2n7s300_joint_7</jointName>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
<link name="j2n7s300_end_effector"/>
|
||||
<joint name="j2n7s300_joint_end_effector" type="fixed">
|
||||
<parent link="j2n7s300_link_7"/>
|
||||
<child link="j2n7s300_end_effector"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
<origin rpy="3.141592653589793 0 1.5707963267948966" xyz="0 0 -0.1600"/>
|
||||
</joint>
|
||||
<link name="j2n7s300_link_finger_1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://kinova_description/meshes/finger_proximal.dae"/>
|
||||
</geometry>
|
||||
<material name="carbon_fiber">
|
||||
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://kinova_description/meshes/finger_proximal.dae"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.01"/>
|
||||
<origin xyz="0.022 0 0"/>
|
||||
<inertia ixx="7.8999684e-07" ixy="0" ixz="0" iyy="7.8999684e-07" iyz="0" izz="8e-08"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="j2n7s300_joint_finger_1" type="revolute">
|
||||
<parent link="j2n7s300_link_7"/>
|
||||
<child link="j2n7s300_link_finger_1"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<origin rpy="-1.7047873384941834 0.6476144647144773 1.67317415161155" xyz="0.00279 0.03126 -0.11467"/>
|
||||
<limit effort="2" lower="0" upper="1.51" velocity="1"/>
|
||||
</joint>
|
||||
<transmission name="j2n7s300_joint_finger_1_trans">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="j2n7s300_joint_finger_1">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="j2n7s300_joint_finger_1_actuator">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<link name="j2n7s300_link_finger_tip_1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://kinova_description/meshes/finger_distal.dae"/>
|
||||
</geometry>
|
||||
<material name="carbon_fiber">
|
||||
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://kinova_description/meshes/finger_distal.dae"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.01"/>
|
||||
<origin xyz="0.022 0 0"/>
|
||||
<inertia ixx="7.8999684e-07" ixy="0" ixz="0" iyy="7.8999684e-07" iyz="0" izz="8e-08"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="j2n7s300_joint_finger_tip_1" type="revolute">
|
||||
<parent link="j2n7s300_link_finger_1"/>
|
||||
<child link="j2n7s300_link_finger_tip_1"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<origin rpy="0 0 0" xyz="0.044 -0.003 0"/>
|
||||
<limit effort="2" lower="0" upper="2" velocity="1"/>
|
||||
</joint>
|
||||
<transmission name="j2n7s300_joint_finger_tip_1_trans">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="j2n7s300_joint_finger_tip_1">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="j2n7s300_joint_finger_tip_1_actuator">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<link name="j2n7s300_link_finger_2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://kinova_description/meshes/finger_proximal.dae"/>
|
||||
</geometry>
|
||||
<material name="carbon_fiber">
|
||||
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://kinova_description/meshes/finger_proximal.dae"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.01"/>
|
||||
<origin xyz="0.022 0 0"/>
|
||||
<inertia ixx="7.8999684e-07" ixy="0" ixz="0" iyy="7.8999684e-07" iyz="0" izz="8e-08"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="j2n7s300_joint_finger_2" type="revolute">
|
||||
<parent link="j2n7s300_link_7"/>
|
||||
<child link="j2n7s300_link_finger_2"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<origin rpy="-1.570796327 .649262481663582 -1.38614049188413" xyz="0.02226 -0.02707 -0.11482"/>
|
||||
<limit effort="2" lower="0" upper="1.51" velocity="1"/>
|
||||
</joint>
|
||||
<transmission name="j2n7s300_joint_finger_2_trans">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="j2n7s300_joint_finger_2">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="j2n7s300_joint_finger_2_actuator">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<link name="j2n7s300_link_finger_tip_2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://kinova_description/meshes/finger_distal.dae"/>
|
||||
</geometry>
|
||||
<material name="carbon_fiber">
|
||||
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://kinova_description/meshes/finger_distal.dae"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.01"/>
|
||||
<origin xyz="0.022 0 0"/>
|
||||
<inertia ixx="7.8999684e-07" ixy="0" ixz="0" iyy="7.8999684e-07" iyz="0" izz="8e-08"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="j2n7s300_joint_finger_tip_2" type="revolute">
|
||||
<parent link="j2n7s300_link_finger_2"/>
|
||||
<child link="j2n7s300_link_finger_tip_2"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<origin rpy="0 0 0" xyz="0.044 -0.003 0"/>
|
||||
<limit effort="2" lower="0" upper="2" velocity="1"/>
|
||||
</joint>
|
||||
<transmission name="j2n7s300_joint_finger_tip_2_trans">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="j2n7s300_joint_finger_tip_2">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="j2n7s300_joint_finger_tip_2_actuator">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<link name="j2n7s300_link_finger_3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://kinova_description/meshes/finger_proximal.dae"/>
|
||||
</geometry>
|
||||
<material name="carbon_fiber">
|
||||
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://kinova_description/meshes/finger_proximal.dae"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.01"/>
|
||||
<origin xyz="0.022 0 0"/>
|
||||
<inertia ixx="7.8999684e-07" ixy="0" ixz="0" iyy="7.8999684e-07" iyz="0" izz="8e-08"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="j2n7s300_joint_finger_3" type="revolute">
|
||||
<parent link="j2n7s300_link_7"/>
|
||||
<child link="j2n7s300_link_finger_3"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<origin rpy="-1.570796327 .649262481663582 -1.75545216211587" xyz="-0.02226 -0.02707 -0.11482"/>
|
||||
<limit effort="2" lower="0" upper="1.51" velocity="1"/>
|
||||
</joint>
|
||||
<transmission name="j2n7s300_joint_finger_3_trans">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="j2n7s300_joint_finger_3">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="j2n7s300_joint_finger_3_actuator">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<link name="j2n7s300_link_finger_tip_3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://kinova_description/meshes/finger_distal.dae"/>
|
||||
</geometry>
|
||||
<material name="carbon_fiber">
|
||||
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://kinova_description/meshes/finger_distal.dae"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.01"/>
|
||||
<origin xyz="0.022 0 0"/>
|
||||
<inertia ixx="7.8999684e-07" ixy="0" ixz="0" iyy="7.8999684e-07" iyz="0" izz="8e-08"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="j2n7s300_joint_finger_tip_3" type="revolute">
|
||||
<parent link="j2n7s300_link_finger_3"/>
|
||||
<child link="j2n7s300_link_finger_tip_3"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<origin rpy="0 0 0" xyz="0.044 -0.003 0"/>
|
||||
<limit effort="2" lower="0" upper="2" velocity="1"/>
|
||||
</joint>
|
||||
<transmission name="j2n7s300_joint_finger_tip_3_trans">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="j2n7s300_joint_finger_tip_3">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="j2n7s300_joint_finger_tip_3_actuator">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
</robot>
|
||||
|
||||
693
src/curobo/content/assets/robot/jaco/jaco_7s.urdf
Normal file
693
src/curobo/content/assets/robot/jaco/jaco_7s.urdf
Normal file
@@ -0,0 +1,693 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from j2s7s300_standalone.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<!-- j2s7s300 refers to jaco v2 7DOF spherical 3fingers -->
|
||||
<robot name="jaco" xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz" xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint" xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model" xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics" xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable" xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:xi="http://www.w3.org/2001/XInclude">
|
||||
<!-- links mesh_no
|
||||
base 0
|
||||
shoulder 1
|
||||
arm 2
|
||||
forearm 3
|
||||
wrist 4
|
||||
arm_mico 5
|
||||
arm_half1 (7dof) 6
|
||||
arm_half2 (7dof) 7
|
||||
wrist_spherical_1 8
|
||||
wrist_spherical_2 9
|
||||
|
||||
hand 3 finger 55
|
||||
hand_2finger 56
|
||||
finger_proximal 57
|
||||
finger_distal 58
|
||||
-->
|
||||
<!-- links mesh_no
|
||||
base 0
|
||||
shoulder 1
|
||||
arm 2
|
||||
forearm 3
|
||||
wrist 4
|
||||
arm_mico 5
|
||||
arm_half1 (7dof) 6
|
||||
arm_half2 (7dof) 7
|
||||
wrist_spherical_1 8
|
||||
wrist_spherical_2 9
|
||||
|
||||
hand 3 finger 55
|
||||
hand_2finger 56
|
||||
finger_proximal 57
|
||||
finger_distal 58
|
||||
-->
|
||||
<link name="root"/>
|
||||
<!-- for gazebo -->
|
||||
<link name="world"/>
|
||||
<joint name="connect_root_and_world" type="fixed">
|
||||
<child link="root"/>
|
||||
<parent link="world"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</joint>
|
||||
<!-- ros_control plugin -->
|
||||
<gazebo>
|
||||
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
|
||||
<robotNamespace>j2s7s300</robotNamespace>
|
||||
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
|
||||
<legacyModeNS>true</legacyModeNS>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
<link name="j2s7s300_link_base">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/base.dae"/>
|
||||
</geometry>
|
||||
<material name="carbon_fiber">
|
||||
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/base.dae"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.46784"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.1255"/>
|
||||
<inertia ixx="0.000951270861568" ixy="0" ixz="0" iyy="0.000951270861568" iyz="0" izz="0.00037427200000000004"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="j2s7s300_joint_base" type="fixed">
|
||||
<parent link="root"/>
|
||||
<child link="j2s7s300_link_base"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<dynamics damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<link name="j2s7s300_link_1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/shoulder.dae"/>
|
||||
</geometry>
|
||||
<material name="carbon_fiber">
|
||||
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ring_big.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/shoulder.dae"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.7477"/>
|
||||
<origin xyz="0 -0.002 -0.0605"/>
|
||||
<inertia ixx="0.0015203172520400004" ixy="0" ixz="0" iyy="0.0015203172520400004" iyz="0" izz="0.00059816"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="j2s7s300_joint_1" type="continuous">
|
||||
<parent link="j2s7s300_link_base"/>
|
||||
<child link="j2s7s300_link_1"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="40" velocity="0.6283185307179586"/>
|
||||
<origin rpy="0 3.141592653589793 0" xyz="0 0 0.15675"/>
|
||||
<dynamics damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<transmission name="j2s7s300_joint_1_trans">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="j2s7s300_joint_1">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="j2s7s300_joint_1_actuator">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>160</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<!--For torque sensing in simulation-->
|
||||
<gazebo reference="j2s7s300_joint_1">
|
||||
<provideFeedback>true</provideFeedback>
|
||||
</gazebo>
|
||||
<gazebo>
|
||||
<plugin filename="libgazebo_ros_ft_sensor.so" name="ft_sensor">
|
||||
<updateRate>30.0</updateRate>
|
||||
<topicName>j2s7s300_joint_1_ft_sensor_topic</topicName>
|
||||
<jointName>j2s7s300_joint_1</jointName>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
<link name="j2s7s300_link_2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/arm_half_1.dae"/>
|
||||
</geometry>
|
||||
<material name="carbon_fiber">
|
||||
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ring_big.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/arm_half_1.dae"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.8447"/>
|
||||
<origin xyz="0 -0.103563213 0"/>
|
||||
<inertia ixx="0.00247073761701" ixy="0" ixz="0" iyy="0.000380115" iyz="0" izz="0.00247073761701"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="j2s7s300_joint_2" type="revolute">
|
||||
<parent link="j2s7s300_link_1"/>
|
||||
<child link="j2s7s300_link_2"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="80" lower="0.8203047484373349" upper="5.462880558742252" velocity="0.6283185307179586"/>
|
||||
<origin rpy="-1.5707963267948966 0 3.141592653589793" xyz="0 0.0016 -0.11875"/>
|
||||
<dynamics damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<transmission name="j2s7s300_joint_2_trans">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="j2s7s300_joint_2">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="j2s7s300_joint_2_actuator">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>160</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<!--For torque sensing in simulation-->
|
||||
<gazebo reference="j2s7s300_joint_2">
|
||||
<provideFeedback>true</provideFeedback>
|
||||
</gazebo>
|
||||
<gazebo>
|
||||
<plugin filename="libgazebo_ros_ft_sensor.so" name="ft_sensor">
|
||||
<updateRate>30.0</updateRate>
|
||||
<topicName>j2s7s300_joint_2_ft_sensor_topic</topicName>
|
||||
<jointName>j2s7s300_joint_2</jointName>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
<link name="j2s7s300_link_3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/arm_half_2.dae"/>
|
||||
</geometry>
|
||||
<material name="carbon_fiber">
|
||||
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ring_big.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/arm_half_2.dae"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.8447"/>
|
||||
<origin xyz="0 0 -0.1022447445"/>
|
||||
<inertia ixx="0.00247073761701" ixy="0" ixz="0" iyy="0.00247073761701" iyz="0" izz="0.000380115"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="j2s7s300_joint_3" type="continuous">
|
||||
<parent link="j2s7s300_link_2"/>
|
||||
<child link="j2s7s300_link_3"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="40" velocity="0.6283185307179586"/>
|
||||
<origin rpy="-1.5707963267948966 0 0" xyz="0 -0.205 0"/>
|
||||
<dynamics damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<transmission name="j2s7s300_joint_3_trans">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="j2s7s300_joint_3">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="j2s7s300_joint_3_actuator">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>160</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<!--For torque sensing in simulation-->
|
||||
<gazebo reference="j2s7s300_joint_3">
|
||||
<provideFeedback>true</provideFeedback>
|
||||
</gazebo>
|
||||
<gazebo>
|
||||
<plugin filename="libgazebo_ros_ft_sensor.so" name="ft_sensor">
|
||||
<updateRate>30.0</updateRate>
|
||||
<topicName>j2s7s300_joint_3_ft_sensor_topic</topicName>
|
||||
<jointName>j2s7s300_joint_3</jointName>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
<link name="j2s7s300_link_4">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/forearm.dae"/>
|
||||
</geometry>
|
||||
<material name="carbon_fiber">
|
||||
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ring_big.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/forearm.dae"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.6763"/>
|
||||
<origin xyz="0 0.081 -0.0086"/>
|
||||
<inertia ixx="0.0014202243190800001" ixy="0" ixz="0" iyy="0.000304335" iyz="0" izz="0.0014202243190800001"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="j2s7s300_joint_4" type="revolute">
|
||||
<parent link="j2s7s300_link_3"/>
|
||||
<child link="j2s7s300_link_4"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="40" lower="0.5235987755982988" upper="5.759586531581287" velocity="0.6283185307179586"/>
|
||||
<origin rpy="1.5707963267948966 0 3.141592653589793" xyz="0 0 -0.205"/>
|
||||
<dynamics damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<transmission name="j2s7s300_joint_4_trans">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="j2s7s300_joint_4">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="j2s7s300_joint_4_actuator">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>160</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<!--For torque sensing in simulation-->
|
||||
<gazebo reference="j2s7s300_joint_4">
|
||||
<provideFeedback>true</provideFeedback>
|
||||
</gazebo>
|
||||
<gazebo>
|
||||
<plugin filename="libgazebo_ros_ft_sensor.so" name="ft_sensor">
|
||||
<updateRate>30.0</updateRate>
|
||||
<topicName>j2s7s300_joint_4_ft_sensor_topic</topicName>
|
||||
<jointName>j2s7s300_joint_4</jointName>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
<link name="j2s7s300_link_5">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/wrist_spherical_1.dae"/>
|
||||
</geometry>
|
||||
<material name="carbon_fiber">
|
||||
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ring_small.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/wrist_spherical_1.dae"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.463"/>
|
||||
<origin xyz="0 0.0028848942 -0.0541932613"/>
|
||||
<inertia ixx="0.0004321316048000001" ixy="0" ixz="0" iyy="0.0004321316048000001" iyz="0" izz="9.260000000000001e-05"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="j2s7s300_joint_5" type="continuous">
|
||||
<parent link="j2s7s300_link_4"/>
|
||||
<child link="j2s7s300_link_5"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="20" velocity="0.8377580409572781"/>
|
||||
<origin rpy="-1.5707963267948966 0 3.141592653589793" xyz="0 0.2073 -0.0114"/>
|
||||
<dynamics damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<transmission name="j2s7s300_joint_5_trans">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="j2s7s300_joint_5">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="j2s7s300_joint_5_actuator">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>160</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<!--For torque sensing in simulation-->
|
||||
<gazebo reference="j2s7s300_joint_5">
|
||||
<provideFeedback>true</provideFeedback>
|
||||
</gazebo>
|
||||
<gazebo>
|
||||
<plugin filename="libgazebo_ros_ft_sensor.so" name="ft_sensor">
|
||||
<updateRate>30.0</updateRate>
|
||||
<topicName>j2s7s300_joint_5_ft_sensor_topic</topicName>
|
||||
<jointName>j2s7s300_joint_5</jointName>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
<link name="j2s7s300_link_6">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/wrist_spherical_2.dae"/>
|
||||
</geometry>
|
||||
<material name="carbon_fiber">
|
||||
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ring_small.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/wrist_spherical_2.dae"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.463"/>
|
||||
<origin xyz="0 0.0497208855 -0.0028562765"/>
|
||||
<inertia ixx="0.0004321316048000001" ixy="0" ixz="0" iyy="9.260000000000001e-05" iyz="0" izz="0.0004321316048000001"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="j2s7s300_joint_6" type="revolute">
|
||||
<parent link="j2s7s300_link_5"/>
|
||||
<child link="j2s7s300_link_6"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="20" lower="1.1344640137963142" upper="5.148721293383272" velocity="0.8377580409572781"/>
|
||||
<origin rpy="1.5707963267948966 0 3.141592653589793" xyz="0 0 -0.10375"/>
|
||||
<dynamics damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<transmission name="j2s7s300_joint_6_trans">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="j2s7s300_joint_6">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="j2s7s300_joint_6_actuator">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>160</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<!--For torque sensing in simulation-->
|
||||
<gazebo reference="j2s7s300_joint_6">
|
||||
<provideFeedback>true</provideFeedback>
|
||||
</gazebo>
|
||||
<gazebo>
|
||||
<plugin filename="libgazebo_ros_ft_sensor.so" name="ft_sensor">
|
||||
<updateRate>30.0</updateRate>
|
||||
<topicName>j2s7s300_joint_6_ft_sensor_topic</topicName>
|
||||
<jointName>j2s7s300_joint_6</jointName>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
<link name="j2s7s300_link_7">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/hand_3finger.dae"/>
|
||||
</geometry>
|
||||
<material name="carbon_fiber">
|
||||
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ring_small.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/hand_3finger.dae"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.99"/>
|
||||
<origin xyz="0 0 -0.06"/>
|
||||
<inertia ixx="0.00034532361869999995" ixy="0" ixz="0" iyy="0.00034532361869999995" iyz="0" izz="0.0005815999999999999"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="j2s7s300_joint_7" type="continuous">
|
||||
<parent link="j2s7s300_link_6"/>
|
||||
<child link="j2s7s300_link_7"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="20" velocity="0.8377580409572781"/>
|
||||
<origin rpy="-1.5707963267948966 0 3.141592653589793" xyz="0 0.10375 0"/>
|
||||
<dynamics damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<transmission name="j2s7s300_joint_7_trans">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="j2s7s300_joint_7">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="j2s7s300_joint_7_actuator">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>160</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<!--For torque sensing in simulation-->
|
||||
<gazebo reference="j2s7s300_joint_7">
|
||||
<provideFeedback>true</provideFeedback>
|
||||
</gazebo>
|
||||
<gazebo>
|
||||
<plugin filename="libgazebo_ros_ft_sensor.so" name="ft_sensor">
|
||||
<updateRate>30.0</updateRate>
|
||||
<topicName>j2s7s300_joint_7_ft_sensor_topic</topicName>
|
||||
<jointName>j2s7s300_joint_7</jointName>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
<link name="j2s7s300_end_effector"/>
|
||||
<joint name="j2s7s300_joint_end_effector" type="fixed">
|
||||
<parent link="j2s7s300_link_7"/>
|
||||
<child link="j2s7s300_end_effector"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
<origin rpy="3.141592653589793 0 1.5707963267948966" xyz="0 0 -0.1600"/>
|
||||
</joint>
|
||||
<link name="j2s7s300_link_finger_1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/finger_proximal.dae"/>
|
||||
</geometry>
|
||||
<material name="carbon_fiber">
|
||||
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/finger_proximal.dae"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.01"/>
|
||||
<origin xyz="0.022 0 0"/>
|
||||
<inertia ixx="7.8999684e-07" ixy="0" ixz="0" iyy="7.8999684e-07" iyz="0" izz="8e-08"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="j2s7s300_joint_finger_1" type="revolute">
|
||||
<parent link="j2s7s300_link_7"/>
|
||||
<child link="j2s7s300_link_finger_1"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<origin rpy="-1.7047873384941834 0.6476144647144773 1.67317415161155" xyz="0.00279 0.03126 -0.11467"/>
|
||||
<limit effort="2" lower="0" upper="1.51" velocity="1"/>
|
||||
</joint>
|
||||
<transmission name="j2s7s300_joint_finger_1_trans">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="j2s7s300_joint_finger_1">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="j2s7s300_joint_finger_1_actuator">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<link name="j2s7s300_link_finger_tip_1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/finger_distal.dae"/>
|
||||
</geometry>
|
||||
<material name="carbon_fiber">
|
||||
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/finger_distal.dae"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.01"/>
|
||||
<origin xyz="0.022 0 0"/>
|
||||
<inertia ixx="7.8999684e-07" ixy="0" ixz="0" iyy="7.8999684e-07" iyz="0" izz="8e-08"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="j2s7s300_joint_finger_tip_1" type="revolute">
|
||||
<parent link="j2s7s300_link_finger_1"/>
|
||||
<child link="j2s7s300_link_finger_tip_1"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<origin rpy="0 0 0" xyz="0.044 -0.003 0"/>
|
||||
<limit effort="2" lower="0" upper="2" velocity="1"/>
|
||||
</joint>
|
||||
<transmission name="j2s7s300_joint_finger_tip_1_trans">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="j2s7s300_joint_finger_tip_1">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="j2s7s300_joint_finger_tip_1_actuator">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<link name="j2s7s300_link_finger_2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/finger_proximal.dae"/>
|
||||
</geometry>
|
||||
<material name="carbon_fiber">
|
||||
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/finger_proximal.dae"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.01"/>
|
||||
<origin xyz="0.022 0 0"/>
|
||||
<inertia ixx="7.8999684e-07" ixy="0" ixz="0" iyy="7.8999684e-07" iyz="0" izz="8e-08"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="j2s7s300_joint_finger_2" type="revolute">
|
||||
<parent link="j2s7s300_link_7"/>
|
||||
<child link="j2s7s300_link_finger_2"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<origin rpy="-1.570796327 .649262481663582 -1.38614049188413" xyz="0.02226 -0.02707 -0.11482"/>
|
||||
<limit effort="2" lower="0" upper="1.51" velocity="1"/>
|
||||
</joint>
|
||||
<transmission name="j2s7s300_joint_finger_2_trans">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="j2s7s300_joint_finger_2">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="j2s7s300_joint_finger_2_actuator">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<link name="j2s7s300_link_finger_tip_2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/finger_distal.dae"/>
|
||||
</geometry>
|
||||
<material name="carbon_fiber">
|
||||
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/finger_distal.dae"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.01"/>
|
||||
<origin xyz="0.022 0 0"/>
|
||||
<inertia ixx="7.8999684e-07" ixy="0" ixz="0" iyy="7.8999684e-07" iyz="0" izz="8e-08"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="j2s7s300_joint_finger_tip_2" type="revolute">
|
||||
<parent link="j2s7s300_link_finger_2"/>
|
||||
<child link="j2s7s300_link_finger_tip_2"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<origin rpy="0 0 0" xyz="0.044 -0.003 0"/>
|
||||
<limit effort="2" lower="0" upper="2" velocity="1"/>
|
||||
</joint>
|
||||
<transmission name="j2s7s300_joint_finger_tip_2_trans">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="j2s7s300_joint_finger_tip_2">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="j2s7s300_joint_finger_tip_2_actuator">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<link name="j2s7s300_link_finger_3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/finger_proximal.dae"/>
|
||||
</geometry>
|
||||
<material name="carbon_fiber">
|
||||
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/finger_proximal.dae"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.01"/>
|
||||
<origin xyz="0.022 0 0"/>
|
||||
<inertia ixx="7.8999684e-07" ixy="0" ixz="0" iyy="7.8999684e-07" iyz="0" izz="8e-08"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="j2s7s300_joint_finger_3" type="revolute">
|
||||
<parent link="j2s7s300_link_7"/>
|
||||
<child link="j2s7s300_link_finger_3"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<origin rpy="-1.570796327 .649262481663582 -1.75545216211587" xyz="-0.02226 -0.02707 -0.11482"/>
|
||||
<limit effort="2" lower="0" upper="1.51" velocity="1"/>
|
||||
</joint>
|
||||
<transmission name="j2s7s300_joint_finger_3_trans">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="j2s7s300_joint_finger_3">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="j2s7s300_joint_finger_3_actuator">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<link name="j2s7s300_link_finger_tip_3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/finger_distal.dae"/>
|
||||
</geometry>
|
||||
<material name="carbon_fiber">
|
||||
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/finger_distal.dae"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.01"/>
|
||||
<origin xyz="0.022 0 0"/>
|
||||
<inertia ixx="7.8999684e-07" ixy="0" ixz="0" iyy="7.8999684e-07" iyz="0" izz="8e-08"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="j2s7s300_joint_finger_tip_3" type="revolute">
|
||||
<parent link="j2s7s300_link_finger_3"/>
|
||||
<child link="j2s7s300_link_finger_tip_3"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<origin rpy="0 0 0" xyz="0.044 -0.003 0"/>
|
||||
<limit effort="2" lower="0" upper="2" velocity="1"/>
|
||||
</joint>
|
||||
<transmission name="j2s7s300_joint_finger_tip_3_trans">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="j2s7s300_joint_finger_tip_3">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="j2s7s300_joint_finger_tip_3_actuator">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
</robot>
|
||||
|
||||
2
src/curobo/content/assets/robot/kinova/README.md
Normal file
2
src/curobo/content/assets/robot/kinova/README.md
Normal file
@@ -0,0 +1,2 @@
|
||||
The files in this directory come from:
|
||||
https://github.com/Kinovarobotics/ros_kortex/tree/noetic-devel/kortex_description
|
||||
577
src/curobo/content/assets/robot/kinova/kinova_gen3_7dof.urdf
Normal file
577
src/curobo/content/assets/robot/kinova/kinova_gen3_7dof.urdf
Normal file
@@ -0,0 +1,577 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from robots/gen3_robotiq_2f_85.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<robot name="gen3_robotiq_2f_85">
|
||||
<!-- Run the macros -->
|
||||
<!-- For gazebo and DART -->
|
||||
|
||||
<link name="base_link">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.000648 -0.000166 0.084487"/>
|
||||
<mass value="1.697"/>
|
||||
<inertia ixx="0.004622" ixy="9E-06" ixz="6E-05" iyy="0.004495" iyz="9E-06" izz="0.002079"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="kortex_description/arms/gen3/7dof/meshes/base_link.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.75294 0.75294 0.75294 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="kortex_description/arms/gen3/7dof/meshes/base_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="shoulder_link">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-2.3E-05 -0.010364 -0.07336"/>
|
||||
<mass value="1.3773"/>
|
||||
<inertia ixx="0.00457" ixy="1E-06" ixz="2E-06" iyy="0.004831" iyz="0.000448" izz="0.001409"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="kortex_description/arms/gen3/7dof/meshes/shoulder_link.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.75294 0.75294 0.75294 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="kortex_description/arms/gen3/7dof/meshes/shoulder_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="joint_1" type="revolute">
|
||||
<origin rpy="3.1416 2.7629E-18 -4.9305E-36" xyz="0 0 0.15643"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="shoulder_link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="39" lower="-6.0" upper="6.0" velocity="1.3963"/>
|
||||
</joint>
|
||||
<link name="half_arm_1_link">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-4.4E-05 -0.09958 -0.013278"/>
|
||||
<mass value="1.1636"/>
|
||||
<inertia ixx="0.011088" ixy="5E-06" ixz="0" iyy="0.001072" iyz="-0.000691" izz="0.011255"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="kortex_description/arms/gen3/7dof/meshes/half_arm_1_link.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.75294 0.75294 0.75294 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="kortex_description/arms/gen3/7dof/meshes/half_arm_1_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="joint_2" type="revolute">
|
||||
<origin rpy="1.5708 2.1343E-17 -1.1102E-16" xyz="0 0.005375 -0.12838"/>
|
||||
<parent link="shoulder_link"/>
|
||||
<child link="half_arm_1_link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="39" lower="-2.41" upper="2.41" velocity="1.3963"/>
|
||||
</joint>
|
||||
<link name="half_arm_2_link">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-4.4E-05 -0.006641 -0.117892"/>
|
||||
<mass value="1.1636"/>
|
||||
<inertia ixx="0.010932" ixy="0" ixz="-7E-06" iyy="0.011127" iyz="0.000606" izz="0.001043"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="kortex_description/arms/gen3/7dof/meshes/half_arm_2_link.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.75294 0.75294 0.75294 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="kortex_description/arms/gen3/7dof/meshes/half_arm_2_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="joint_3" type="revolute">
|
||||
<origin rpy="-1.5708 1.2326E-32 -2.9122E-16" xyz="0 -0.21038 -0.006375"/>
|
||||
<parent link="half_arm_1_link"/>
|
||||
<child link="half_arm_2_link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="39" lower="-6.0" upper="6.0" velocity="1.3963"/>
|
||||
</joint>
|
||||
<link name="forearm_link">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-1.8E-05 -0.075478 -0.015006"/>
|
||||
<mass value="0.9302"/>
|
||||
<inertia ixx="0.008147" ixy="-1E-06" ixz="0" iyy="0.000631" iyz="-0.0005" izz="0.008316"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="kortex_description/arms/gen3/7dof/meshes/forearm_link.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.75294 0.75294 0.75294 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="kortex_description/arms/gen3/7dof/meshes/forearm_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="joint_4" type="revolute">
|
||||
<origin rpy="1.5708 -6.6954E-17 -1.6653E-16" xyz="0 0.006375 -0.21038"/>
|
||||
<parent link="half_arm_2_link"/>
|
||||
<child link="forearm_link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="39" lower="-2.66" upper="2.66" velocity="1.3963"/>
|
||||
</joint>
|
||||
<link name="spherical_wrist_1_link">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="1E-06 -0.009432 -0.063883"/>
|
||||
<mass value="0.6781"/>
|
||||
<inertia ixx="0.001596" ixy="0" ixz="0" iyy="0.001607" iyz="0.000256" izz="0.000399"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="kortex_description/arms/gen3/7dof/meshes/spherical_wrist_1_link.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.75294 0.75294 0.75294 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="kortex_description/arms/gen3/7dof/meshes/spherical_wrist_1_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="joint_5" type="revolute">
|
||||
<origin rpy="-1.5708 2.2204E-16 -6.373E-17" xyz="0 -0.20843 -0.006375"/>
|
||||
<parent link="forearm_link"/>
|
||||
<child link="spherical_wrist_1_link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="9" lower="-6.0" upper="6.0" velocity="1.2218"/>
|
||||
</joint>
|
||||
<link name="spherical_wrist_2_link">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="1E-06 -0.045483 -0.00965"/>
|
||||
<mass value="0.6781"/>
|
||||
<inertia ixx="0.001641" ixy="0" ixz="0" iyy="0.00041" iyz="-0.000278" izz="0.001641"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="kortex_description/arms/gen3/7dof/meshes/spherical_wrist_2_link.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.75294 0.75294 0.75294 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="kortex_description/arms/gen3/7dof/meshes/spherical_wrist_2_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="joint_6" type="revolute">
|
||||
<origin rpy="1.5708 9.2076E-28 -8.2157E-15" xyz="0 0.00017505 -0.10593"/>
|
||||
<parent link="spherical_wrist_1_link"/>
|
||||
<child link="spherical_wrist_2_link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="9" lower="-2.23" upper="2.23" velocity="1.2218"/>
|
||||
</joint>
|
||||
<link name="bracelet_link">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.000281 0.011402 -0.029798"/>
|
||||
<mass value="0.5"/>
|
||||
<inertia ixx="0.000587" ixy="3E-06" ixz="3E-06" iyy="0.000369" iyz="-0.000118" izz="0.000609"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="kortex_description/arms/gen3/7dof/meshes/bracelet_with_vision_link.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.75294 0.75294 0.75294 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="kortex_description/arms/gen3/7dof/meshes/bracelet_with_vision_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="joint_7" type="revolute">
|
||||
<origin rpy="-1.5708 -5.5511E-17 9.6396E-17" xyz="0 -0.10593 -0.00017505"/>
|
||||
<parent link="spherical_wrist_2_link"/>
|
||||
<child link="bracelet_link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="9" lower="-6.0" upper="6.0" velocity="1.2218"/>
|
||||
</joint>
|
||||
<link name="end_effector_link"/>
|
||||
<joint name="end_effector" type="fixed">
|
||||
<origin rpy="3.14159265358979 1.09937075168372E-32 0" xyz="0 0 -0.0615250000000001"/>
|
||||
<parent link="bracelet_link"/>
|
||||
<child link="end_effector_link"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
</joint>
|
||||
<link name="camera_link"/>
|
||||
<joint name="camera_module" type="fixed">
|
||||
<origin rpy="3.14159265358979 3.14159265358979 0" xyz="0 0.05639 -0.00305"/>
|
||||
<parent link="end_effector_link"/>
|
||||
<child link="camera_link"/>
|
||||
</joint>
|
||||
<link name="camera_depth_frame"/>
|
||||
<joint name="depth_module" type="fixed">
|
||||
<origin rpy="3.14159265358979 3.14159265358979 0" xyz="0.0275 0.066 -0.00305"/>
|
||||
<parent link="end_effector_link"/>
|
||||
<child link="camera_depth_frame"/>
|
||||
</joint>
|
||||
<link name="camera_color_frame"/>
|
||||
<joint name="color_module" type="fixed">
|
||||
<origin rpy="3.14159265358979 3.14159265358979 0" xyz="0 0.05639 -0.00305"/>
|
||||
<parent link="end_effector_link"/>
|
||||
<child link="camera_color_frame"/>
|
||||
</joint>
|
||||
<!-- This line was removed by Kinova because we replaced the transmission file with our own
|
||||
<xacro:include filename="$(find robotiq_2f_85_gripper_visualization)/urdf/robotiq_arg2f_transmission.xacro" /> -->
|
||||
<!-- Tool frame used by the arm -->
|
||||
<link name="tool_frame"/>
|
||||
<joint name="tool_frame_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 0.120"/>
|
||||
<parent link="end_effector_link"/>
|
||||
<child link="tool_frame"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
</joint>
|
||||
<!-- This joint was added by Kinova -->
|
||||
<joint name="gripper_base_joint" type="fixed">
|
||||
<parent link="end_effector_link"/>
|
||||
<child link="robotiq_arg2f_base_link"/>
|
||||
<origin rpy="0.0 0.0 1.57" xyz="0.0 0.0 0.0"/>
|
||||
</joint>
|
||||
<link name="robotiq_arg2f_base_link">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="8.625E-08 -4.6583E-06 0.03145"/>
|
||||
<mass value="0.22652"/>
|
||||
<inertia ixx="0.00020005" ixy="-4.2442E-10" ixz="-2.9069E-10" iyy="0.00017832" iyz="-3.4402E-08" izz="0.00013478"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<!-- The DAE file doesn't show well in Gazebo so we're using the STL instead -->
|
||||
<!-- <mesh filename="kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_arg2f_85_base_link.dae" scale="0.001 0.001 0.001"/> -->
|
||||
<mesh filename="kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_arg2f_base_link.stl"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.1 0.1 0.1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_arg2f_base_link.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<gazebo reference="robotiq_arg2f_base_link">
|
||||
<material>Gazebo/Black</material>
|
||||
</gazebo>
|
||||
<link name="left_outer_knuckle">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.000200000000003065 0.0199435877845359 0.0292245259211331"/>
|
||||
<mass value="0.00853198276973456"/>
|
||||
<inertia ixx="2.89328108496468E-06" ixy="-1.57935047237397E-19" ixz="-1.93980378593255E-19" iyy="1.86719750325683E-06" iyz="-1.21858577871576E-06" izz="1.21905238907251E-06"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_arg2f_85_outer_knuckle.dae" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_arg2f_85_outer_knuckle.dae" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="left_outer_finger">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.00030115855001899 0.0373907951953854 -0.0208027427000385"/>
|
||||
<mass value="0.022614240507152"/>
|
||||
<inertia ixx="1.52518312458174E-05" ixy="9.76583423954399E-10" ixz="-5.43838577022588E-10" iyy="6.17694243867776E-06" iyz="6.78636130740228E-06" izz="1.16494917907219E-05"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_arg2f_85_outer_finger.dae" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.1 0.1 0.1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_arg2f_85_outer_finger.dae" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="left_inner_finger">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.000299999999999317 0.0160078233491243 -0.0136945669206257"/>
|
||||
<mass value="0.0104003125914103"/>
|
||||
<inertia ixx="2.71909453810972E-06" ixy="1.35402465472579E-21" ixz="-7.1817349065269E-22" iyy="7.69100314106116E-07" iyz="6.74715432769696E-07" izz="2.30315190420171E-06"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_arg2f_85_inner_finger.dae" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.1 0.1 0.1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_arg2f_85_inner_finger.dae" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="left_inner_finger_pad">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.022 0.00635 0.0375"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.9 0.9 0.9 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.022 0.00635 0.0375"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.9 0.0 0.0 1"/>
|
||||
</material>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="left_inner_knuckle">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.000123011831763771 0.0507850843201817 0.00103968640075166"/>
|
||||
<mass value="0.0271177346495152"/>
|
||||
<inertia ixx="2.61910379223783E-05" ixy="-2.43616858946494E-07" ixz="-6.37789906117123E-09" iyy="2.8270243746167E-06" iyz="-5.37200748039765E-07" izz="2.83695868220296E-05"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_arg2f_85_inner_knuckle.dae" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.1 0.1 0.1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_arg2f_85_inner_knuckle.dae" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="right_outer_knuckle">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.000200000000003065 0.0199435877845359 0.0292245259211331"/>
|
||||
<mass value="0.00853198276973456"/>
|
||||
<inertia ixx="2.89328108496468E-06" ixy="-1.57935047237397E-19" ixz="-1.93980378593255E-19" iyy="1.86719750325683E-06" iyz="-1.21858577871576E-06" izz="1.21905238907251E-06"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_arg2f_85_outer_knuckle.dae" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_arg2f_85_outer_knuckle.dae" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="right_outer_finger">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.00030115855001899 0.0373907951953854 -0.0208027427000385"/>
|
||||
<mass value="0.022614240507152"/>
|
||||
<inertia ixx="1.52518312458174E-05" ixy="9.76583423954399E-10" ixz="-5.43838577022588E-10" iyy="6.17694243867776E-06" iyz="6.78636130740228E-06" izz="1.16494917907219E-05"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_arg2f_85_outer_finger.dae" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.1 0.1 0.1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_arg2f_85_outer_finger.dae" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="right_inner_finger">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.000299999999999317 0.0160078233491243 -0.0136945669206257"/>
|
||||
<mass value="0.0104003125914103"/>
|
||||
<inertia ixx="2.71909453810972E-06" ixy="1.35402465472579E-21" ixz="-7.1817349065269E-22" iyy="7.69100314106116E-07" iyz="6.74715432769696E-07" izz="2.30315190420171E-06"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_arg2f_85_inner_finger.dae" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.1 0.1 0.1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_arg2f_85_inner_finger.dae" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="right_inner_finger_pad">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.022 0.00635 0.0375"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.9 0.9 0.9 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.022 0.00635 0.0375"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.9 0.0 0.0 1"/>
|
||||
</material>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="right_inner_knuckle">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.000123011831763771 0.0507850843201817 0.00103968640075166"/>
|
||||
<mass value="0.0271177346495152"/>
|
||||
<inertia ixx="2.61910379223783E-05" ixy="-2.43616858946494E-07" ixz="-6.37789906117123E-09" iyy="2.8270243746167E-06" iyz="-5.37200748039765E-07" izz="2.83695868220296E-05"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_arg2f_85_inner_knuckle.dae" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.1 0.1 0.1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_arg2f_85_inner_knuckle.dae" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_outer_knuckle_joint" type="fixed">
|
||||
<origin rpy="0 0 3.1415" xyz="0 -0.0306011 0.054904"/>
|
||||
<parent link="robotiq_arg2f_base_link"/>
|
||||
<child link="left_outer_knuckle"/>
|
||||
<!--axis xyz="1 0 0"/>
|
||||
<limit effort="1000" lower="-0.0" upper="0.8" velocity="2.0"/-->
|
||||
</joint>
|
||||
<joint name="left_outer_finger_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0.0315 -0.0041"/>
|
||||
<parent link="left_outer_knuckle"/>
|
||||
<child link="left_outer_finger"/>
|
||||
</joint>
|
||||
<joint name="left_inner_knuckle_joint" type="fixed">
|
||||
<origin rpy="0 0 3.141592653589793" xyz="0 -0.0127 0.06142"/>
|
||||
<parent link="robotiq_arg2f_base_link"/>
|
||||
<child link="left_inner_knuckle"/>
|
||||
|
||||
</joint>
|
||||
<joint name="left_inner_finger_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0.0061 0.0471"/>
|
||||
<parent link="left_outer_finger"/>
|
||||
<child link="left_inner_finger"/>
|
||||
|
||||
</joint>
|
||||
<joint name="left_inner_finger_pad_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 -0.0220203446692936 0.03242"/>
|
||||
<parent link="left_inner_finger"/>
|
||||
<child link="left_inner_finger_pad"/>
|
||||
</joint>
|
||||
<joint name="right_outer_knuckle_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0.0306011 0.054904"/>
|
||||
<parent link="robotiq_arg2f_base_link"/>
|
||||
<child link="right_outer_knuckle"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit effort="1000" lower="0" upper="0.8" velocity="2.0"/>
|
||||
</joint>
|
||||
<joint name="right_outer_finger_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0.0315 -0.0041"/>
|
||||
<parent link="right_outer_knuckle"/>
|
||||
<child link="right_outer_finger"/>
|
||||
</joint>
|
||||
<joint name="right_inner_knuckle_joint" type="fixed">
|
||||
<origin rpy="0 0 0.0" xyz="0 0.0127 0.06142"/>
|
||||
<parent link="robotiq_arg2f_base_link"/>
|
||||
<child link="right_inner_knuckle"/>
|
||||
|
||||
</joint>
|
||||
<joint name="right_inner_finger_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0.0061 0.0471"/>
|
||||
<parent link="right_outer_finger"/>
|
||||
<child link="right_inner_finger"/>
|
||||
|
||||
</joint>
|
||||
<joint name="right_inner_finger_pad_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 -0.0220203446692936 0.03242"/>
|
||||
<parent link="right_inner_finger"/>
|
||||
<child link="right_inner_finger_pad"/>
|
||||
</joint>
|
||||
</robot>
|
||||
@@ -0,0 +1,23 @@
|
||||
Copyright (c) 2013, ROS-Industrial
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without modification,
|
||||
are permitted provided that the following conditions are met:
|
||||
|
||||
Redistributions of source code must retain the above copyright notice, this
|
||||
list of conditions and the following disclaimer.
|
||||
|
||||
Redistributions in binary form must reproduce the above copyright notice, this
|
||||
list of conditions and the following disclaimer in the documentation and/or
|
||||
other materials provided with the distribution.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
|
||||
ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
|
||||
ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
@@ -0,0 +1,13 @@
|
||||
This is the README file from Robotiq's package for the 2F-85 gripper. The package's license file can also be found in this folder.
|
||||
We used commit `4e3196c1c6a83f54acfa3dd8cf02b575ebba3e53` from [Robotiq's ROS Industrial Github repository](https://github.com/ros-industrial/robotiq)
|
||||
|
||||
# Robotiq 85mm 2-Finger-Adaptive-Gripper
|
||||
|
||||
This package contains the URDF files describing the 85mm stroke gripper from robotiq, also known as series **C3**.
|
||||
|
||||
## Robot Visual
|
||||
|
||||
|
||||
## Robot Collision
|
||||
|
||||
|
||||
@@ -0,0 +1,331 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from tm12.urdf.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<robot name="tm12">
|
||||
<gazebo reference="link_1">
|
||||
<selfCollide>true</selfCollide>
|
||||
</gazebo>
|
||||
<gazebo reference="link_2">
|
||||
<selfCollide>true</selfCollide>
|
||||
</gazebo>
|
||||
<gazebo reference="link_3">
|
||||
<selfCollide>true</selfCollide>
|
||||
</gazebo>
|
||||
<gazebo reference="link_4">
|
||||
<selfCollide>true</selfCollide>
|
||||
</gazebo>
|
||||
<gazebo reference="link_5">
|
||||
<selfCollide>true</selfCollide>
|
||||
</gazebo>
|
||||
<gazebo reference="link_6">
|
||||
<selfCollide>true</selfCollide>
|
||||
</gazebo>
|
||||
<gazebo>
|
||||
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
|
||||
<robotNamespace>/</robotNamespace>
|
||||
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
<transmission name="trans_1">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="shoulder_1_joint">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="motor_1">
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="trans_2">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="shoulder_2_joint">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="motor_2">
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="trans_3">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="elbow_joint">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="motor_3">
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="trans_4">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="wrist_1_joint">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="motor_4">
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="trans_5">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="wrist_2_joint">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="motor_5">
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="trans_6">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="wrist_3_joint">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="motor_6">
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<material name="none">
|
||||
<color rgba="0.0 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="lightgrey">
|
||||
<color rgba="0.5 0.5 0.5 1.0"/>
|
||||
</material>
|
||||
<material name="grey">
|
||||
<color rgba="0.75 0.75 0.75 1.0"/>
|
||||
</material>
|
||||
<material name="white">
|
||||
<color rgba="0.95 0.95 0.95 1.0"/>
|
||||
</material>
|
||||
<material name="red">
|
||||
<color rgba="0.95 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="orange">
|
||||
<color rgba="1.0 0.5 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="yellow">
|
||||
<color rgba="1.0 1.0 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="green">
|
||||
<color rgba="0.0 1.0 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="blue">
|
||||
<color rgba="0.0 0.0 1.0 1.0"/>
|
||||
</material>
|
||||
<material name="indigo">
|
||||
<color rgba="0.3 0.3 0.6 1.0"/>
|
||||
</material>
|
||||
<material name="violet">
|
||||
<color rgba="0.6 0.0 1.0 1.0"/>
|
||||
</material>
|
||||
<material name="black">
|
||||
<color rgba="0.0 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="darkolive">
|
||||
<color rgba="0.3 0.3 0.25 1.0"/>
|
||||
</material>
|
||||
<!--LinkDescription-->
|
||||
<link name="link_0">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/tm12/visual/tm12-base.obj"/>
|
||||
</geometry>
|
||||
<material name="none"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/tm12/collision/tm12-base_c.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="1.0"/>
|
||||
<origin rpy="0.000000 0.000000 0.000000" xyz="0.000000 0.000000 0.000000"/>
|
||||
<inertia ixx="0.00110833289" ixy="0.0" ixz="0.0" iyy="0.00110833289" iyz="0.0" izz="0.0018"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="shoulder_1_joint" type="revolute">
|
||||
<parent link="link_0"/>
|
||||
<child link="link_1"/>
|
||||
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000000 0.000000 0.165200"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<!--limit-->
|
||||
<limit effort="353" lower="-4.71238898038469" upper="4.71238898038469" velocity="2.0943951023931953"/>
|
||||
<dynamics damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<link name="link_1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/tm12/visual/tmr_750w_01.obj"/>
|
||||
</geometry>
|
||||
<material name="none"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/tm12/collision/tmr_750w_01_c.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0.000000 0.000000 0.000000" xyz="0.000000 0.000000 0.000000"/>
|
||||
<mass value="7.6"/>
|
||||
<inertia ixx="0.020289334" ixy="0.000000" ixz="0.000000" iyy="0.020289334" iyz="0.000000" izz="0.021396270999999998"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="shoulder_2_joint" type="revolute">
|
||||
<parent link="link_1"/>
|
||||
<child link="link_2"/>
|
||||
<origin rpy="-1.570796 -1.570796 0.000000" xyz="0.000000 0.000000 0.000000"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<!--limit-->
|
||||
<limit effort="353" lower="-3.141592653589793" upper="3.141592653589793" velocity="2.0943951023931953"/>
|
||||
<dynamics damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<link name="link_2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/tm12/visual/tm12-arm1.obj"/>
|
||||
</geometry>
|
||||
<material name="none"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/tm12/collision/tm12-arm1_c.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0.000000 0.000000 0.000000" xyz="0.000000 0.000000 0.000000"/>
|
||||
<mass value="14.0239"/>
|
||||
<inertia ixx="0.071505715" ixy="0.000000" ixz="0.000000" iyy="1.1758788999999998" iyz="0.000000" izz="1.2033932999999999"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="elbow_joint" type="revolute">
|
||||
<parent link="link_2"/>
|
||||
<child link="link_3"/>
|
||||
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.636100 0.000000 0.000000"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<!--limit-->
|
||||
<limit effort="157" lower="-2.897246558310587" upper="2.897246558310587" velocity="3.141592653589793"/>
|
||||
<dynamics damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<link name="link_3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/tm12/visual/tm12-arm2.obj"/>
|
||||
</geometry>
|
||||
<material name="none"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/tm12/collision/tm12-arm2_c.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0.000000 0.000000 0.000000" xyz="0.000000 0.000000 0.000000"/>
|
||||
<mass value="3.3577"/>
|
||||
<inertia ixx="0.009755469" ixy="0.000000" ixz="0.000000" iyy="0.16334719" iyz="0.000000" izz="0.16656678"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="wrist_1_joint" type="revolute">
|
||||
<parent link="link_3"/>
|
||||
<child link="link_4"/>
|
||||
<origin rpy="0.000000 -0.000000 1.570796" xyz="0.557900 0.000000 -0.156300"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<!--limit-->
|
||||
<limit effort="54" lower="-3.141592653589793" upper="3.141592653589793" velocity="3.141592653589793"/>
|
||||
<dynamics damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<link name="link_4">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/tm5-900/visual/tmr_100w_01.obj"/>
|
||||
</geometry>
|
||||
<material name="none"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/tm5-900/collision/tmr_100w_01_c.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0.000000 0.000000 0.000000" xyz="0.000000 0.000000 0.000000"/>
|
||||
<mass value="1.576"/>
|
||||
<inertia ixx="0.002058405" ixy="0.000000" ixz="0.000000" iyy="0.0025630790000000002" iyz="0.000000" izz="0.00264321"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="wrist_2_joint" type="revolute">
|
||||
<parent link="link_4"/>
|
||||
<child link="link_5"/>
|
||||
<origin rpy="1.570796 -0.000000 0.000000" xyz="0.000000 -0.106000 0.000000"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<!--limit-->
|
||||
<limit effort="54" lower="-3.141592653589793" upper="3.141592653589793" velocity="3.141592653589793"/>
|
||||
<dynamics damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<link name="link_5">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/tm5-900/visual/tmr_100w_02.obj"/>
|
||||
</geometry>
|
||||
<material name="none"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/tm5-900/collision/tmr_100w_02_c.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0.000000 0.000000 0.000000" xyz="0.000000 0.000000 0.000000"/>
|
||||
<mass value="1.576"/>
|
||||
<inertia ixx="0.002058405" ixy="0.000000" ixz="0.000000" iyy="0.0025630790000000002" iyz="0.000000" izz="0.00264321"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="wrist_3_joint" type="revolute">
|
||||
<parent link="link_5"/>
|
||||
<child link="link_6"/>
|
||||
<origin rpy="1.570796 -0.000000 0.000000" xyz="0.000000 -0.113150 0.000000"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<!--limit-->
|
||||
<limit effort="54" lower="-4.71238898038469" upper="4.71238898038469" velocity="3.141592653589793"/>
|
||||
<dynamics damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<link name="link_6">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/tm5-900/visual/tmr_ee.obj"/>
|
||||
</geometry>
|
||||
<material name="none"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/tm5-900/collision/tmr_ee_c.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0.000000 0.000000 0.000000" xyz="0.000000 0.000000 0.000000"/>
|
||||
<mass value="0.65"/>
|
||||
<inertia ixx="0.000774544" ixy="0.000000" ixz="0.000000" iyy="0.001383811" iyz="0.000000" izz="0.001559496"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="flange_fixed_joint" type="fixed">
|
||||
<parent link="link_6"/>
|
||||
<child link="flange_link"/>
|
||||
<origin rpy="0.000000 0.000000 0.000000" xyz="0.000000 0.000000 0.000000"/>
|
||||
</joint>
|
||||
<link name="flange_link"/>
|
||||
<link name="base"/>
|
||||
<joint name="base_fixed_joint" type="fixed">
|
||||
<parent link="base"/>
|
||||
<child link="link_0"/>
|
||||
<origin rpy="0.000000 0.000000 0.000000" xyz="0.000000 0.000000 0.000000"/>
|
||||
</joint>
|
||||
<link name="tool0"/>
|
||||
<joint name="flange_link-tool0" type="fixed">
|
||||
<parent link="flange_link"/>
|
||||
<child link="tool0"/>
|
||||
<origin rpy="0.000000 0.000000 0.000000" xyz="0.000000 0.000000 0.000000"/>
|
||||
</joint>
|
||||
<!--LinkDescription-->
|
||||
<link name="world"/>
|
||||
<joint name="world_joint" type="fixed">
|
||||
<parent link="world"/>
|
||||
<child link="base"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</joint>
|
||||
</robot>
|
||||
|
||||
331
src/curobo/content/assets/robot/techman/tm_description/urdf/tm12x-nominal.urdf
Executable file
331
src/curobo/content/assets/robot/techman/tm_description/urdf/tm12x-nominal.urdf
Executable file
@@ -0,0 +1,331 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from tm12x.urdf.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<robot name="tm12x">
|
||||
<gazebo reference="link_1">
|
||||
<selfCollide>true</selfCollide>
|
||||
</gazebo>
|
||||
<gazebo reference="link_2">
|
||||
<selfCollide>true</selfCollide>
|
||||
</gazebo>
|
||||
<gazebo reference="link_3">
|
||||
<selfCollide>true</selfCollide>
|
||||
</gazebo>
|
||||
<gazebo reference="link_4">
|
||||
<selfCollide>true</selfCollide>
|
||||
</gazebo>
|
||||
<gazebo reference="link_5">
|
||||
<selfCollide>true</selfCollide>
|
||||
</gazebo>
|
||||
<gazebo reference="link_6">
|
||||
<selfCollide>true</selfCollide>
|
||||
</gazebo>
|
||||
<gazebo>
|
||||
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
|
||||
<robotNamespace>/</robotNamespace>
|
||||
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
<transmission name="trans_1">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="shoulder_1_joint">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="motor_1">
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="trans_2">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="shoulder_2_joint">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="motor_2">
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="trans_3">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="elbow_joint">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="motor_3">
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="trans_4">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="wrist_1_joint">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="motor_4">
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="trans_5">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="wrist_2_joint">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="motor_5">
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="trans_6">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="wrist_3_joint">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="motor_6">
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<material name="none">
|
||||
<color rgba="0.0 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="lightgrey">
|
||||
<color rgba="0.5 0.5 0.5 1.0"/>
|
||||
</material>
|
||||
<material name="grey">
|
||||
<color rgba="0.75 0.75 0.75 1.0"/>
|
||||
</material>
|
||||
<material name="white">
|
||||
<color rgba="0.95 0.95 0.95 1.0"/>
|
||||
</material>
|
||||
<material name="red">
|
||||
<color rgba="0.95 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="orange">
|
||||
<color rgba="1.0 0.5 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="yellow">
|
||||
<color rgba="1.0 1.0 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="green">
|
||||
<color rgba="0.0 1.0 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="blue">
|
||||
<color rgba="0.0 0.0 1.0 1.0"/>
|
||||
</material>
|
||||
<material name="indigo">
|
||||
<color rgba="0.3 0.3 0.6 1.0"/>
|
||||
</material>
|
||||
<material name="violet">
|
||||
<color rgba="0.6 0.0 1.0 1.0"/>
|
||||
</material>
|
||||
<material name="black">
|
||||
<color rgba="0.0 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="darkolive">
|
||||
<color rgba="0.3 0.3 0.25 1.0"/>
|
||||
</material>
|
||||
<!--LinkDescription-->
|
||||
<link name="link_0">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/tm12/visual/tm12-base.obj"/>
|
||||
</geometry>
|
||||
<material name="none"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/tm12/collision/tm12-base_c.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="1.0"/>
|
||||
<origin rpy="0.000000 0.000000 0.000000" xyz="0.000000 0.000000 0.000000"/>
|
||||
<inertia ixx="0.00110833289" ixy="0.0" ixz="0.0" iyy="0.00110833289" iyz="0.0" izz="0.0018"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="shoulder_1_joint" type="revolute">
|
||||
<parent link="link_0"/>
|
||||
<child link="link_1"/>
|
||||
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000000 0.000000 0.165200"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<!--limit-->
|
||||
<limit effort="353" lower="-6.283185307179586" upper="6.283185307179586" velocity="2.0943951023931953"/>
|
||||
<dynamics damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<link name="link_1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/tm12/visual/tmr_750w_01.obj"/>
|
||||
</geometry>
|
||||
<material name="none"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/tm12/collision/tmr_750w_01_c.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0.000000 0.000000 0.000000" xyz="0.000000 0.000000 0.000000"/>
|
||||
<mass value="7.6"/>
|
||||
<inertia ixx="0.020289334" ixy="0.000000" ixz="0.000000" iyy="0.020289334" iyz="0.000000" izz="0.021396270999999998"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="shoulder_2_joint" type="revolute">
|
||||
<parent link="link_1"/>
|
||||
<child link="link_2"/>
|
||||
<origin rpy="-1.570796 -1.570796 0.000000" xyz="0.000000 0.000000 0.000000"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<!--limit-->
|
||||
<limit effort="353" lower="-6.283185307179586" upper="6.283185307179586" velocity="2.0943951023931953"/>
|
||||
<dynamics damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<link name="link_2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/tm12/visual/tm12-arm1.obj"/>
|
||||
</geometry>
|
||||
<material name="none"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/tm12/collision/tm12-arm1_c.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0.000000 0.000000 0.000000" xyz="0.000000 0.000000 0.000000"/>
|
||||
<mass value="14.0239"/>
|
||||
<inertia ixx="0.071505715" ixy="0.000000" ixz="0.000000" iyy="1.1758788999999998" iyz="0.000000" izz="1.2033932999999999"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="elbow_joint" type="revolute">
|
||||
<parent link="link_2"/>
|
||||
<child link="link_3"/>
|
||||
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.636100 0.000000 0.000000"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<!--limit-->
|
||||
<limit effort="157" lower="-2.897246558310587" upper="2.897246558310587" velocity="3.141592653589793"/>
|
||||
<dynamics damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<link name="link_3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/tm12/visual/tm12-arm2.obj"/>
|
||||
</geometry>
|
||||
<material name="none"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/tm12/collision/tm12-arm2_c.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0.000000 0.000000 0.000000" xyz="0.000000 0.000000 0.000000"/>
|
||||
<mass value="3.3577"/>
|
||||
<inertia ixx="0.009755469" ixy="0.000000" ixz="0.000000" iyy="0.16334719" iyz="0.000000" izz="0.16656678"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="wrist_1_joint" type="revolute">
|
||||
<parent link="link_3"/>
|
||||
<child link="link_4"/>
|
||||
<origin rpy="0.000000 -0.000000 1.570796" xyz="0.557900 0.000000 -0.156300"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<!--limit-->
|
||||
<limit effort="54" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
|
||||
<dynamics damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<link name="link_4">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/tm5-900/visual/tmr_100w_01.obj"/>
|
||||
</geometry>
|
||||
<material name="none"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/tm5-900/collision/tmr_100w_01_c.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0.000000 0.000000 0.000000" xyz="0.000000 0.000000 0.000000"/>
|
||||
<mass value="1.576"/>
|
||||
<inertia ixx="0.002058405" ixy="0.000000" ixz="0.000000" iyy="0.0025630790000000002" iyz="0.000000" izz="0.00264321"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="wrist_2_joint" type="revolute">
|
||||
<parent link="link_4"/>
|
||||
<child link="link_5"/>
|
||||
<origin rpy="1.570796 -0.000000 0.000000" xyz="0.000000 -0.106000 0.000000"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<!--limit-->
|
||||
<limit effort="54" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
|
||||
<dynamics damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<link name="link_5">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/tm5-900/visual/tmr_100w_02.obj"/>
|
||||
</geometry>
|
||||
<material name="none"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/tm5-900/collision/tmr_100w_02_c.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0.000000 0.000000 0.000000" xyz="0.000000 0.000000 0.000000"/>
|
||||
<mass value="1.576"/>
|
||||
<inertia ixx="0.002058405" ixy="0.000000" ixz="0.000000" iyy="0.0025630790000000002" iyz="0.000000" izz="0.00264321"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="wrist_3_joint" type="revolute">
|
||||
<parent link="link_5"/>
|
||||
<child link="link_6"/>
|
||||
<origin rpy="1.570796 -0.000000 0.000000" xyz="0.000000 -0.113150 0.000000"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<!--limit-->
|
||||
<limit effort="54" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
|
||||
<dynamics damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<link name="link_6">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/tm5-900/visual/tmr_iox.obj"/>
|
||||
</geometry>
|
||||
<material name="none"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/tm5-900/collision/tmr_iox_c.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0.000000 0.000000 0.000000" xyz="0.000000 0.000000 0.000000"/>
|
||||
<mass value="0.31"/>
|
||||
<inertia ixx="0.000226642" ixy="0.000000" ixz="0.000000" iyy="0.000226642" iyz="0.000000" izz="0.000286595"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="flange_fixed_joint" type="fixed">
|
||||
<parent link="link_6"/>
|
||||
<child link="flange_link"/>
|
||||
<origin rpy="0.000000 0.000000 0.000000" xyz="0.000000 0.000000 0.000000"/>
|
||||
</joint>
|
||||
<link name="flange_link"/>
|
||||
<link name="base"/>
|
||||
<joint name="base_fixed_joint" type="fixed">
|
||||
<parent link="base"/>
|
||||
<child link="link_0"/>
|
||||
<origin rpy="0.000000 0.000000 0.000000" xyz="0.000000 0.000000 0.000000"/>
|
||||
</joint>
|
||||
<link name="tool0"/>
|
||||
<joint name="flange_link-tool0" type="fixed">
|
||||
<parent link="flange_link"/>
|
||||
<child link="tool0"/>
|
||||
<origin rpy="0.000000 0.000000 0.000000" xyz="0.000000 0.000000 0.000000"/>
|
||||
</joint>
|
||||
<!--LinkDescription-->
|
||||
<link name="world"/>
|
||||
<joint name="world_joint" type="fixed">
|
||||
<parent link="world"/>
|
||||
<child link="base"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</joint>
|
||||
</robot>
|
||||
|
||||
556
src/curobo/content/assets/robot/ur_description/dual_ur10e.urdf
Normal file
556
src/curobo/content/assets/robot/ur_description/dual_ur10e.urdf
Normal file
@@ -0,0 +1,556 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from ur_description/urdf/ur10e.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<robot name="ur10e_robot">
|
||||
<!--
|
||||
Base UR robot series xacro macro.
|
||||
|
||||
NOTE: this is NOT a URDF. It cannot directly be loaded by consumers
|
||||
expecting a flattened '.urdf' file. See the top-level '.xacro' for that
|
||||
(but note: that .xacro must still be processed by the xacro command).
|
||||
|
||||
For use in '.launch' files: use one of the 'load_urX.launch' convenience
|
||||
launch files.
|
||||
|
||||
This file models the base kinematic chain of a UR robot, which then gets
|
||||
parameterised by various configuration files to convert it into a UR3(e),
|
||||
UR5(e), UR10(e) or UR16e.
|
||||
|
||||
NOTE: the default kinematic parameters (ie: link lengths, frame locations,
|
||||
offets, etc) do not correspond to any particular robot. They are defaults
|
||||
only. There WILL be non-zero offsets between the Forward Kinematics results
|
||||
in TF (ie: robot_state_publisher) and the values reported by the Teach
|
||||
Pendant.
|
||||
|
||||
For accurate (and robot-specific) transforms, the 'kinematics_parameters_file'
|
||||
parameter MUST point to a .yaml file containing the appropriate values for
|
||||
the targetted robot.
|
||||
|
||||
If using the UniversalRobots/Universal_Robots_ROS_Driver, follow the steps
|
||||
described in the readme of that repository to extract the kinematic
|
||||
calibration from the controller and generate the required .yaml file.
|
||||
|
||||
Main author of the migration to yaml configs: Ludovic Delval.
|
||||
|
||||
Contributors to previous versions (in no particular order):
|
||||
|
||||
- Felix Messmer
|
||||
- Kelsey Hawkins
|
||||
- Wim Meeussen
|
||||
- Shaun Edwards
|
||||
- Nadia Hammoudeh Garcia
|
||||
- Dave Hershberger
|
||||
- G. vd. Hoorn
|
||||
- Philip Long
|
||||
- Dave Coleman
|
||||
- Miguel Prada
|
||||
- Mathias Luedtke
|
||||
- Marcel Schnirring
|
||||
- Felix von Drigalski
|
||||
- Felix Exner
|
||||
- Jimmy Da Silva
|
||||
- Ajit Krisshna N L
|
||||
- Muhammad Asif Rana
|
||||
-->
|
||||
<!--
|
||||
NOTE: the macro defined in this file is NOT part of the public API of this
|
||||
package. Users CANNOT rely on this file being available, or stored in
|
||||
this location. Nor can they rely on the existence of the macro.
|
||||
-->
|
||||
|
||||
<!-- links: main serial chain -->
|
||||
<link name="base_fixture_link"/>
|
||||
<link name="base_link"/>
|
||||
|
||||
<link name="base_link_1"/>
|
||||
|
||||
|
||||
|
||||
<!-- joints: main serial chain -->
|
||||
<joint name="base_fixture_j_base_link" type="fixed">
|
||||
<parent link="base_fixture_link"/>
|
||||
<child link="base_link"/>
|
||||
<origin rpy="0 0 0" xyz="0.75 0.75 0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<!-- joints: main serial chain -->
|
||||
<joint name="base_fixture_j_base_link_1" type="fixed">
|
||||
<parent link="base_fixture_link"/>
|
||||
<child link="base_link_1"/>
|
||||
<origin rpy="0 0 0.0" xyz="-0.75 0.75 0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
<link name="base_link_inertia">
|
||||
<visual>
|
||||
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/visual/base.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/collision/base.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="4.0"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0.0061063308908" ixy="0.0" ixz="0.0" iyy="0.0061063308908" iyz="0.0" izz="0.01125"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="base_link_base_link_inertia" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="base_link_inertia"/>
|
||||
<!-- 'base_link' is REP-103 aligned (so X+ forward), while the internal
|
||||
frames of the robot/controller have X+ pointing backwards.
|
||||
Use the joint between 'base_link' and 'base_link_inertia' (a dummy
|
||||
link/frame) to introduce the necessary rotation over Z (of pi rad).
|
||||
-->
|
||||
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="shoulder_link">
|
||||
<visual>
|
||||
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/visual/shoulder.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/collision/shoulder.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="7.778"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0.03147431257693659" ixy="0.0" ixz="0.0" iyy="0.03147431257693659" iyz="0.0" izz="0.021875624999999996"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="upper_arm_link">
|
||||
<visual>
|
||||
<origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.1762"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/visual/upperarm.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.1762"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/collision/upperarm.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="12.93"/>
|
||||
<origin rpy="0 1.5707963267948966 0" xyz="-0.306 0.0 0.175"/>
|
||||
<inertia ixx="0.42175380379841093" ixy="0.0" ixz="0.0" iyy="0.42175380379841093" iyz="0.0" izz="0.03636562499999999"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="forearm_link">
|
||||
<visual>
|
||||
<origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0393"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/visual/forearm.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0393"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/collision/forearm.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="3.87"/>
|
||||
<origin rpy="0 1.5707963267948966 0" xyz="-0.285775 0.0 0.0393"/>
|
||||
<inertia ixx="0.11079302548902206" ixy="0.0" ixz="0.0" iyy="0.11079302548902206" iyz="0.0" izz="0.010884375"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="wrist_1_link">
|
||||
<visual>
|
||||
<!-- TODO: Move this to a parameter -->
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.135"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/visual/wrist1.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.135"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/collision/wrist1.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="1.96"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0.005108247956699999" ixy="0.0" ixz="0.0" iyy="0.005108247956699999" iyz="0.0" izz="0.005512499999999999"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="wrist_2_link">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.12"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/visual/wrist2.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.12"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/collision/wrist2.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="1.96"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0.005108247956699999" ixy="0.0" ixz="0.0" iyy="0.005108247956699999" iyz="0.0" izz="0.005512499999999999"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="wrist_3_link">
|
||||
<visual>
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.1168"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/visual/wrist3.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.1168"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/collision/wrist3.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.202"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 -0.025"/>
|
||||
<inertia ixx="0.00014434577559500002" ixy="0.0" ixz="0.0" iyy="0.00014434577559500002" iyz="0.0" izz="0.00020452500000000002"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
|
||||
<joint name="shoulder_pan_joint" type="revolute">
|
||||
<parent link="base_link_inertia"/>
|
||||
<child link="shoulder_link"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.1807"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="330.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="2.0943951023931953"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
<joint name="shoulder_lift_joint" type="revolute">
|
||||
<parent link="shoulder_link"/>
|
||||
<child link="upper_arm_link"/>
|
||||
<origin rpy="1.570796327 0 0" xyz="0 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="330.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="2.0943951023931953"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
<joint name="elbow_joint" type="revolute">
|
||||
<parent link="upper_arm_link"/>
|
||||
<child link="forearm_link"/>
|
||||
<origin rpy="0 0 0" xyz="-0.6127 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="150.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="3.141592653589793"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
<joint name="wrist_1_joint" type="revolute">
|
||||
<parent link="forearm_link"/>
|
||||
<child link="wrist_1_link"/>
|
||||
<origin rpy="0 0 0" xyz="-0.57155 0 0.17415"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="56.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
<joint name="wrist_2_joint" type="revolute">
|
||||
<parent link="wrist_1_link"/>
|
||||
<child link="wrist_2_link"/>
|
||||
<origin rpy="1.570796327 0 0" xyz="0 -0.11985 -2.458164590756244e-11"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="56.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
<joint name="wrist_3_joint" type="revolute">
|
||||
<parent link="wrist_2_link"/>
|
||||
<child link="wrist_3_link"/>
|
||||
<origin rpy="1.570796326589793 3.141592653589793 3.141592653589793" xyz="0 0.11655 -2.390480459346185e-11"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="56.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
|
||||
<link name="flange"/>
|
||||
<joint name="wrist_3-flange" type="fixed">
|
||||
<parent link="wrist_3_link"/>
|
||||
<child link="flange"/>
|
||||
<origin rpy="0 -1.5707963267948966 -1.5707963267948966" xyz="0 0 0"/>
|
||||
</joint>
|
||||
<!-- ROS-Industrial 'tool0' frame: all-zeros tool frame -->
|
||||
<link name="tool0"/>
|
||||
<joint name="flange-tool0" type="fixed">
|
||||
<!-- default toolframe: X+ left, Y+ up, Z+ front -->
|
||||
<origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0 0 0"/>
|
||||
<parent link="flange"/>
|
||||
<child link="tool0"/>
|
||||
</joint>
|
||||
<!-- ROS-Industrial 'base' frame: base_link to UR 'Base' Coordinates transform -->
|
||||
|
||||
|
||||
|
||||
<link name="base_link_inertia_link_1">
|
||||
<visual>
|
||||
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/visual/base.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/collision/base.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="4.0"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0.0061063308908" ixy="0.0" ixz="0.0" iyy="0.0061063308908" iyz="0.0" izz="0.01125"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="shoulder_link_1">
|
||||
<visual>
|
||||
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/visual/shoulder.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/collision/shoulder.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="7.778"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0.03147431257693659" ixy="0.0" ixz="0.0" iyy="0.03147431257693659" iyz="0.0" izz="0.021875624999999996"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="upper_arm_link_1">
|
||||
<visual>
|
||||
<origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.1762"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/visual/upperarm.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.1762"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/collision/upperarm.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="12.93"/>
|
||||
<origin rpy="0 1.5707963267948966 0" xyz="-0.306 0.0 0.175"/>
|
||||
<inertia ixx="0.42175380379841093" ixy="0.0" ixz="0.0" iyy="0.42175380379841093" iyz="0.0" izz="0.03636562499999999"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="forearm_link_1">
|
||||
<visual>
|
||||
<origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0393"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/visual/forearm.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0393"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/collision/forearm.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="3.87"/>
|
||||
<origin rpy="0 1.5707963267948966 0" xyz="-0.285775 0.0 0.0393"/>
|
||||
<inertia ixx="0.11079302548902206" ixy="0.0" ixz="0.0" iyy="0.11079302548902206" iyz="0.0" izz="0.010884375"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="wrist_1_link_1">
|
||||
<visual>
|
||||
<!-- TODO: Move this to a parameter -->
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.135"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/visual/wrist1.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.135"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/collision/wrist1.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="1.96"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0.005108247956699999" ixy="0.0" ixz="0.0" iyy="0.005108247956699999" iyz="0.0" izz="0.005512499999999999"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="wrist_2_link_1">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.12"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/visual/wrist2.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.12"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/collision/wrist2.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="1.96"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0.005108247956699999" ixy="0.0" ixz="0.0" iyy="0.005108247956699999" iyz="0.0" izz="0.005512499999999999"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="wrist_3_link_1">
|
||||
<visual>
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.1168"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/visual/wrist3.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.1168"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/collision/wrist3.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.202"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 -0.025"/>
|
||||
<inertia ixx="0.00014434577559500002" ixy="0.0" ixz="0.0" iyy="0.00014434577559500002" iyz="0.0" izz="0.00020452500000000002"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="base_link_base_link_inertia_joint_1" type="fixed">
|
||||
<parent link="base_link_1"/>
|
||||
<child link="base_link_inertia_link_1"/>
|
||||
<!-- 'base_link' is REP-103 aligned (so X+ forward), while the internal
|
||||
frames of the robot/controller have X+ pointing backwards.
|
||||
Use the joint between 'base_link' and 'base_link_inertia' (a dummy
|
||||
link/frame) to introduce the necessary rotation over Z (of pi rad).
|
||||
-->
|
||||
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="shoulder_pan_joint_1" type="revolute">
|
||||
<parent link="base_link_inertia_link_1"/>
|
||||
<child link="shoulder_link_1"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.1807"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="330.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="2.0943951023931953"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
<joint name="shoulder_lift_joint_1" type="revolute">
|
||||
<parent link="shoulder_link_1"/>
|
||||
<child link="upper_arm_link_1"/>
|
||||
<origin rpy="1.570796327 0 0" xyz="0 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="330.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="2.0943951023931953"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
<joint name="elbow_joint_1" type="revolute">
|
||||
<parent link="upper_arm_link_1"/>
|
||||
<child link="forearm_link_1"/>
|
||||
<origin rpy="0 0 0" xyz="-0.6127 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="150.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="3.141592653589793"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
<joint name="wrist_1_joint_1" type="revolute">
|
||||
<parent link="forearm_link_1"/>
|
||||
<child link="wrist_1_link_1"/>
|
||||
<origin rpy="0 0 0" xyz="-0.57155 0 0.17415"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="56.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
<joint name="wrist_2_joint_1" type="revolute">
|
||||
<parent link="wrist_1_link_1"/>
|
||||
<child link="wrist_2_link_1"/>
|
||||
<origin rpy="1.570796327 0 0" xyz="0 -0.11985 -2.458164590756244e-11"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="56.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
<joint name="wrist_3_joint_1" type="revolute">
|
||||
<parent link="wrist_2_link_1"/>
|
||||
<child link="wrist_3_link_1"/>
|
||||
<origin rpy="1.570796326589793 3.141592653589793 3.141592653589793" xyz="0 0.11655 -2.390480459346185e-11"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="56.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
|
||||
<!-- ROS-Industrial 'flange' frame: attachment point for EEF models -->
|
||||
<link name="flange_1"/>
|
||||
<joint name="wrist_3_flange_1" type="fixed">
|
||||
<parent link="wrist_3_link_1"/>
|
||||
<child link="flange_1"/>
|
||||
<origin rpy="0 -1.5707963267948966 -1.5707963267948966" xyz="0 0 0"/>
|
||||
</joint>
|
||||
<!-- ROS-Industrial 'tool0' frame: all-zeros tool frame -->
|
||||
<link name="tool1"/>
|
||||
<joint name="flange_tool_1" type="fixed">
|
||||
<!-- default toolframe: X+ left, Y+ up, Z+ front -->
|
||||
<origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0 0 0"/>
|
||||
<parent link="flange_1"/>
|
||||
<child link="tool1"/>
|
||||
</joint>
|
||||
|
||||
|
||||
</robot>
|
||||
1035
src/curobo/content/assets/robot/ur_description/quad_ur10e.urdf
Normal file
1035
src/curobo/content/assets/robot/ur_description/quad_ur10e.urdf
Normal file
File diff suppressed because it is too large
Load Diff
953
src/curobo/content/assets/robot/ur_description/tri_ur10e.urdf
Normal file
953
src/curobo/content/assets/robot/ur_description/tri_ur10e.urdf
Normal file
@@ -0,0 +1,953 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from ur_description/urdf/ur10e.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<robot name="ur10e_robot">
|
||||
<!--
|
||||
Base UR robot series xacro macro.
|
||||
|
||||
NOTE: this is NOT a URDF. It cannot directly be loaded by consumers
|
||||
expecting a flattened '.urdf' file. See the top-level '.xacro' for that
|
||||
(but note: that .xacro must still be processed by the xacro command).
|
||||
|
||||
For use in '.launch' files: use one of the 'load_urX.launch' convenience
|
||||
launch files.
|
||||
|
||||
This file models the base kinematic chain of a UR robot, which then gets
|
||||
parameterised by various configuration files to convert it into a UR3(e),
|
||||
UR5(e), UR10(e) or UR16e.
|
||||
|
||||
NOTE: the default kinematic parameters (ie: link lengths, frame locations,
|
||||
offets, etc) do not correspond to any particular robot. They are defaults
|
||||
only. There WILL be non-zero offsets between the Forward Kinematics results
|
||||
in TF (ie: robot_state_publisher) and the values reported by the Teach
|
||||
Pendant.
|
||||
|
||||
For accurate (and robot-specific) transforms, the 'kinematics_parameters_file'
|
||||
parameter MUST point to a .yaml file containing the appropriate values for
|
||||
the targetted robot.
|
||||
|
||||
If using the UniversalRobots/Universal_Robots_ROS_Driver, follow the steps
|
||||
described in the readme of that repository to extract the kinematic
|
||||
calibration from the controller and generate the required .yaml file.
|
||||
|
||||
Main author of the migration to yaml configs: Ludovic Delval.
|
||||
|
||||
Contributors to previous versions (in no particular order):
|
||||
|
||||
- Felix Messmer
|
||||
- Kelsey Hawkins
|
||||
- Wim Meeussen
|
||||
- Shaun Edwards
|
||||
- Nadia Hammoudeh Garcia
|
||||
- Dave Hershberger
|
||||
- G. vd. Hoorn
|
||||
- Philip Long
|
||||
- Dave Coleman
|
||||
- Miguel Prada
|
||||
- Mathias Luedtke
|
||||
- Marcel Schnirring
|
||||
- Felix von Drigalski
|
||||
- Felix Exner
|
||||
- Jimmy Da Silva
|
||||
- Ajit Krisshna N L
|
||||
- Muhammad Asif Rana
|
||||
-->
|
||||
<!--
|
||||
NOTE: the macro defined in this file is NOT part of the public API of this
|
||||
package. Users CANNOT rely on this file being available, or stored in
|
||||
this location. Nor can they rely on the existence of the macro.
|
||||
-->
|
||||
|
||||
<!-- links: main serial chain -->
|
||||
<link name="base_fixture_link"/>
|
||||
<link name="base_link"/>
|
||||
|
||||
<link name="base_link_1"/>
|
||||
<link name="base_link_2"/>
|
||||
|
||||
|
||||
<!-- joints: main serial chain -->
|
||||
<joint name="base_fixture_j_base_link" type="fixed">
|
||||
<parent link="base_fixture_link"/>
|
||||
<child link="base_link"/>
|
||||
<origin rpy="0 0 0" xyz="0.75 0.75 0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<!-- joints: main serial chain -->
|
||||
<joint name="base_fixture_j_base_link_1" type="fixed">
|
||||
<parent link="base_fixture_link"/>
|
||||
<child link="base_link_1"/>
|
||||
<origin rpy="0 0 0.0" xyz="-0.75 0.75 0"/>
|
||||
</joint>
|
||||
|
||||
<!-- joints: main serial chain -->
|
||||
<joint name="base_fixture_j_base_link_2" type="fixed">
|
||||
<parent link="base_fixture_link"/>
|
||||
<child link="base_link_2"/>
|
||||
<origin rpy="0 0 3.14" xyz="0.0 -0.75 0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
|
||||
<link name="base_link_inertia">
|
||||
<visual>
|
||||
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/visual/base.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/collision/base.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="4.0"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0.0061063308908" ixy="0.0" ixz="0.0" iyy="0.0061063308908" iyz="0.0" izz="0.01125"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="base_link_base_link_inertia" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="base_link_inertia"/>
|
||||
<!-- 'base_link' is REP-103 aligned (so X+ forward), while the internal
|
||||
frames of the robot/controller have X+ pointing backwards.
|
||||
Use the joint between 'base_link' and 'base_link_inertia' (a dummy
|
||||
link/frame) to introduce the necessary rotation over Z (of pi rad).
|
||||
-->
|
||||
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="shoulder_link">
|
||||
<visual>
|
||||
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/visual/shoulder.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/collision/shoulder.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="7.778"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0.03147431257693659" ixy="0.0" ixz="0.0" iyy="0.03147431257693659" iyz="0.0" izz="0.021875624999999996"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="upper_arm_link">
|
||||
<visual>
|
||||
<origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.1762"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/visual/upperarm.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.1762"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/collision/upperarm.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="12.93"/>
|
||||
<origin rpy="0 1.5707963267948966 0" xyz="-0.306 0.0 0.175"/>
|
||||
<inertia ixx="0.42175380379841093" ixy="0.0" ixz="0.0" iyy="0.42175380379841093" iyz="0.0" izz="0.03636562499999999"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="forearm_link">
|
||||
<visual>
|
||||
<origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0393"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/visual/forearm.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0393"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/collision/forearm.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="3.87"/>
|
||||
<origin rpy="0 1.5707963267948966 0" xyz="-0.285775 0.0 0.0393"/>
|
||||
<inertia ixx="0.11079302548902206" ixy="0.0" ixz="0.0" iyy="0.11079302548902206" iyz="0.0" izz="0.010884375"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="wrist_1_link">
|
||||
<visual>
|
||||
<!-- TODO: Move this to a parameter -->
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.135"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/visual/wrist1.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.135"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/collision/wrist1.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="1.96"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0.005108247956699999" ixy="0.0" ixz="0.0" iyy="0.005108247956699999" iyz="0.0" izz="0.005512499999999999"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="wrist_2_link">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.12"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/visual/wrist2.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.12"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/collision/wrist2.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="1.96"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0.005108247956699999" ixy="0.0" ixz="0.0" iyy="0.005108247956699999" iyz="0.0" izz="0.005512499999999999"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="wrist_3_link">
|
||||
<visual>
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.1168"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/visual/wrist3.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.1168"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/collision/wrist3.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.202"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 -0.025"/>
|
||||
<inertia ixx="0.00014434577559500002" ixy="0.0" ixz="0.0" iyy="0.00014434577559500002" iyz="0.0" izz="0.00020452500000000002"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
|
||||
<joint name="shoulder_pan_joint" type="revolute">
|
||||
<parent link="base_link_inertia"/>
|
||||
<child link="shoulder_link"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.1807"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="330.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="2.0943951023931953"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
<joint name="shoulder_lift_joint" type="revolute">
|
||||
<parent link="shoulder_link"/>
|
||||
<child link="upper_arm_link"/>
|
||||
<origin rpy="1.570796327 0 0" xyz="0 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="330.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="2.0943951023931953"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
<joint name="elbow_joint" type="revolute">
|
||||
<parent link="upper_arm_link"/>
|
||||
<child link="forearm_link"/>
|
||||
<origin rpy="0 0 0" xyz="-0.6127 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="150.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="3.141592653589793"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
<joint name="wrist_1_joint" type="revolute">
|
||||
<parent link="forearm_link"/>
|
||||
<child link="wrist_1_link"/>
|
||||
<origin rpy="0 0 0" xyz="-0.57155 0 0.17415"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="56.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
<joint name="wrist_2_joint" type="revolute">
|
||||
<parent link="wrist_1_link"/>
|
||||
<child link="wrist_2_link"/>
|
||||
<origin rpy="1.570796327 0 0" xyz="0 -0.11985 -2.458164590756244e-11"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="56.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
<joint name="wrist_3_joint" type="revolute">
|
||||
<parent link="wrist_2_link"/>
|
||||
<child link="wrist_3_link"/>
|
||||
<origin rpy="1.570796326589793 3.141592653589793 3.141592653589793" xyz="0 0.11655 -2.390480459346185e-11"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="56.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
|
||||
<link name="flange"/>
|
||||
<joint name="wrist_3-flange" type="fixed">
|
||||
<parent link="wrist_3_link"/>
|
||||
<child link="flange"/>
|
||||
<origin rpy="0 -1.5707963267948966 -1.5707963267948966" xyz="0 0 0"/>
|
||||
</joint>
|
||||
<!-- ROS-Industrial 'tool0' frame: all-zeros tool frame -->
|
||||
<link name="tool0"/>
|
||||
<joint name="flange-tool0" type="fixed">
|
||||
<!-- default toolframe: X+ left, Y+ up, Z+ front -->
|
||||
<origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0 0 0"/>
|
||||
<parent link="flange"/>
|
||||
<child link="tool0"/>
|
||||
</joint>
|
||||
<!-- ROS-Industrial 'base' frame: base_link to UR 'Base' Coordinates transform -->
|
||||
|
||||
|
||||
|
||||
<link name="base_link_inertia_link_1">
|
||||
<visual>
|
||||
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/visual/base.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/collision/base.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="4.0"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0.0061063308908" ixy="0.0" ixz="0.0" iyy="0.0061063308908" iyz="0.0" izz="0.01125"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="shoulder_link_1">
|
||||
<visual>
|
||||
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/visual/shoulder.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/collision/shoulder.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="7.778"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0.03147431257693659" ixy="0.0" ixz="0.0" iyy="0.03147431257693659" iyz="0.0" izz="0.021875624999999996"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="upper_arm_link_1">
|
||||
<visual>
|
||||
<origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.1762"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/visual/upperarm.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.1762"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/collision/upperarm.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="12.93"/>
|
||||
<origin rpy="0 1.5707963267948966 0" xyz="-0.306 0.0 0.175"/>
|
||||
<inertia ixx="0.42175380379841093" ixy="0.0" ixz="0.0" iyy="0.42175380379841093" iyz="0.0" izz="0.03636562499999999"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="forearm_link_1">
|
||||
<visual>
|
||||
<origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0393"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/visual/forearm.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0393"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/collision/forearm.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="3.87"/>
|
||||
<origin rpy="0 1.5707963267948966 0" xyz="-0.285775 0.0 0.0393"/>
|
||||
<inertia ixx="0.11079302548902206" ixy="0.0" ixz="0.0" iyy="0.11079302548902206" iyz="0.0" izz="0.010884375"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="wrist_1_link_1">
|
||||
<visual>
|
||||
<!-- TODO: Move this to a parameter -->
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.135"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/visual/wrist1.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.135"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/collision/wrist1.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="1.96"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0.005108247956699999" ixy="0.0" ixz="0.0" iyy="0.005108247956699999" iyz="0.0" izz="0.005512499999999999"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="wrist_2_link_1">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.12"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/visual/wrist2.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.12"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/collision/wrist2.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="1.96"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0.005108247956699999" ixy="0.0" ixz="0.0" iyy="0.005108247956699999" iyz="0.0" izz="0.005512499999999999"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="wrist_3_link_1">
|
||||
<visual>
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.1168"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/visual/wrist3.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.1168"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/collision/wrist3.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.202"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 -0.025"/>
|
||||
<inertia ixx="0.00014434577559500002" ixy="0.0" ixz="0.0" iyy="0.00014434577559500002" iyz="0.0" izz="0.00020452500000000002"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="base_link_base_link_inertia_joint_1" type="fixed">
|
||||
<parent link="base_link_1"/>
|
||||
<child link="base_link_inertia_link_1"/>
|
||||
<!-- 'base_link' is REP-103 aligned (so X+ forward), while the internal
|
||||
frames of the robot/controller have X+ pointing backwards.
|
||||
Use the joint between 'base_link' and 'base_link_inertia' (a dummy
|
||||
link/frame) to introduce the necessary rotation over Z (of pi rad).
|
||||
-->
|
||||
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="shoulder_pan_joint_1" type="revolute">
|
||||
<parent link="base_link_inertia_link_1"/>
|
||||
<child link="shoulder_link_1"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.1807"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="330.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="2.0943951023931953"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
<joint name="shoulder_lift_joint_1" type="revolute">
|
||||
<parent link="shoulder_link_1"/>
|
||||
<child link="upper_arm_link_1"/>
|
||||
<origin rpy="1.570796327 0 0" xyz="0 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="330.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="2.0943951023931953"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
<joint name="elbow_joint_1" type="revolute">
|
||||
<parent link="upper_arm_link_1"/>
|
||||
<child link="forearm_link_1"/>
|
||||
<origin rpy="0 0 0" xyz="-0.6127 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="150.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="3.141592653589793"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
<joint name="wrist_1_joint_1" type="revolute">
|
||||
<parent link="forearm_link_1"/>
|
||||
<child link="wrist_1_link_1"/>
|
||||
<origin rpy="0 0 0" xyz="-0.57155 0 0.17415"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="56.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
<joint name="wrist_2_joint_1" type="revolute">
|
||||
<parent link="wrist_1_link_1"/>
|
||||
<child link="wrist_2_link_1"/>
|
||||
<origin rpy="1.570796327 0 0" xyz="0 -0.11985 -2.458164590756244e-11"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="56.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
<joint name="wrist_3_joint_1" type="revolute">
|
||||
<parent link="wrist_2_link_1"/>
|
||||
<child link="wrist_3_link_1"/>
|
||||
<origin rpy="1.570796326589793 3.141592653589793 3.141592653589793" xyz="0 0.11655 -2.390480459346185e-11"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="56.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
|
||||
<!-- ROS-Industrial 'flange' frame: attachment point for EEF models -->
|
||||
<link name="flange_1"/>
|
||||
<joint name="wrist_3_flange_1" type="fixed">
|
||||
<parent link="wrist_3_link_1"/>
|
||||
<child link="flange_1"/>
|
||||
<origin rpy="0 -1.5707963267948966 -1.5707963267948966" xyz="0 0 0"/>
|
||||
</joint>
|
||||
<!-- ROS-Industrial 'tool0' frame: all-zeros tool frame -->
|
||||
<link name="tool1"/>
|
||||
<joint name="flange_tool_1" type="fixed">
|
||||
<!-- default toolframe: X+ left, Y+ up, Z+ front -->
|
||||
<origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0 0 0"/>
|
||||
<parent link="flange_1"/>
|
||||
<child link="tool1"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="base_link_inertia_link_2">
|
||||
<visual>
|
||||
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/visual/base.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/collision/base.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="4.0"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0.0061063308908" ixy="0.0" ixz="0.0" iyy="0.0061063308908" iyz="0.0" izz="0.01125"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="shoulder_link_2">
|
||||
<visual>
|
||||
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/visual/shoulder.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/collision/shoulder.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="7.778"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0.03147431257693659" ixy="0.0" ixz="0.0" iyy="0.03147431257693659" iyz="0.0" izz="0.021875624999999996"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="upper_arm_link_2">
|
||||
<visual>
|
||||
<origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.1762"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/visual/upperarm.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.1762"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/collision/upperarm.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="12.93"/>
|
||||
<origin rpy="0 1.5707963267948966 0" xyz="-0.306 0.0 0.175"/>
|
||||
<inertia ixx="0.42175380379841093" ixy="0.0" ixz="0.0" iyy="0.42175380379841093" iyz="0.0" izz="0.03636562499999999"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="forearm_link_2">
|
||||
<visual>
|
||||
<origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0393"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/visual/forearm.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0393"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/collision/forearm.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="3.87"/>
|
||||
<origin rpy="0 1.5707963267948966 0" xyz="-0.285775 0.0 0.0393"/>
|
||||
<inertia ixx="0.11079302548902206" ixy="0.0" ixz="0.0" iyy="0.11079302548902206" iyz="0.0" izz="0.010884375"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="wrist_1_link_2">
|
||||
<visual>
|
||||
<!-- TODO: Move this to a parameter -->
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.135"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/visual/wrist1.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.135"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/collision/wrist1.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="1.96"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0.005108247956699999" ixy="0.0" ixz="0.0" iyy="0.005108247956699999" iyz="0.0" izz="0.005512499999999999"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="wrist_2_link_2">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.12"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/visual/wrist2.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.12"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/collision/wrist2.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="1.96"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0.005108247956699999" ixy="0.0" ixz="0.0" iyy="0.005108247956699999" iyz="0.0" izz="0.005512499999999999"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="wrist_3_link_2">
|
||||
<visual>
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.1168"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/visual/wrist3.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.1168"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/collision/wrist3.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.202"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 -0.025"/>
|
||||
<inertia ixx="0.00014434577559500002" ixy="0.0" ixz="0.0" iyy="0.00014434577559500002" iyz="0.0" izz="0.00020452500000000002"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="base_link_base_link_inertia_joint_2" type="fixed">
|
||||
<parent link="base_link_2"/>
|
||||
<child link="base_link_inertia_link_2"/>
|
||||
<!-- 'base_link' is REP-103 aligned (so X+ forward), while the internal
|
||||
frames of the robot/controller have X+ pointing backwards.
|
||||
Use the joint between 'base_link' and 'base_link_inertia' (a dummy
|
||||
link/frame) to introduce the necessary rotation over Z (of pi rad).
|
||||
-->
|
||||
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="shoulder_pan_joint_2" type="revolute">
|
||||
<parent link="base_link_inertia_link_2"/>
|
||||
<child link="shoulder_link_2"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.1807"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="330.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="2.0943951023931953"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
<joint name="shoulder_lift_joint_2" type="revolute">
|
||||
<parent link="shoulder_link_2"/>
|
||||
<child link="upper_arm_link_2"/>
|
||||
<origin rpy="1.570796327 0 0" xyz="0 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="330.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="2.0943951023931953"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
<joint name="elbow_joint_2" type="revolute">
|
||||
<parent link="upper_arm_link_2"/>
|
||||
<child link="forearm_link_2"/>
|
||||
<origin rpy="0 0 0" xyz="-0.6127 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="150.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="3.141592653589793"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
<joint name="wrist_1_joint_2" type="revolute">
|
||||
<parent link="forearm_link_2"/>
|
||||
<child link="wrist_1_link_2"/>
|
||||
<origin rpy="0 0 0" xyz="-0.57155 0 0.17415"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="56.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
<joint name="wrist_2_joint_2" type="revolute">
|
||||
<parent link="wrist_1_link_2"/>
|
||||
<child link="wrist_2_link_2"/>
|
||||
<origin rpy="1.570796327 0 0" xyz="0 -0.11985 -2.458164590756244e-11"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="56.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
<joint name="wrist_3_joint_2" type="revolute">
|
||||
<parent link="wrist_2_link_2"/>
|
||||
<child link="wrist_3_link_2"/>
|
||||
<origin rpy="1.570796326589793 3.141592653589793 3.141592653589793" xyz="0 0.11655 -2.390480459346185e-11"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="56.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
|
||||
<!-- ROS-Industrial 'flange' frame: attachment point for EEF models -->
|
||||
<link name="flange_2"/>
|
||||
<joint name="wrist_3_flange_joint_2" type="fixed">
|
||||
<parent link="wrist_3_link_2"/>
|
||||
<child link="flange_2"/>
|
||||
<origin rpy="0 -1.5707963267948966 -1.5707963267948966" xyz="0 0 0"/>
|
||||
</joint>
|
||||
<!-- ROS-Industrial 'tool0' frame: all-zeros tool frame -->
|
||||
<link name="tool2"/>
|
||||
<joint name="flange_tool_joint_2" type="fixed">
|
||||
<!-- default toolframe: X+ left, Y+ up, Z+ front -->
|
||||
<origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0 0 0"/>
|
||||
<parent link="flange_2"/>
|
||||
<child link="tool2"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="base_link_inertia_link_3">
|
||||
<visual>
|
||||
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/visual/base.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/collision/base.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="4.0"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0.0061063308908" ixy="0.0" ixz="0.0" iyy="0.0061063308908" iyz="0.0" izz="0.01125"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="shoulder_link_3">
|
||||
<visual>
|
||||
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/visual/shoulder.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/collision/shoulder.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="7.778"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0.03147431257693659" ixy="0.0" ixz="0.0" iyy="0.03147431257693659" iyz="0.0" izz="0.021875624999999996"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="upper_arm_link_3">
|
||||
<visual>
|
||||
<origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.1762"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/visual/upperarm.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.1762"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/collision/upperarm.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="12.93"/>
|
||||
<origin rpy="0 1.5707963267948966 0" xyz="-0.306 0.0 0.175"/>
|
||||
<inertia ixx="0.42175380379841093" ixy="0.0" ixz="0.0" iyy="0.42175380379841093" iyz="0.0" izz="0.03636562499999999"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="forearm_link_3">
|
||||
<visual>
|
||||
<origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0393"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/visual/forearm.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0393"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/collision/forearm.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="3.87"/>
|
||||
<origin rpy="0 1.5707963267948966 0" xyz="-0.285775 0.0 0.0393"/>
|
||||
<inertia ixx="0.11079302548902206" ixy="0.0" ixz="0.0" iyy="0.11079302548902206" iyz="0.0" izz="0.010884375"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="wrist_1_link_3">
|
||||
<visual>
|
||||
<!-- TODO: Move this to a parameter -->
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.135"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/visual/wrist1.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.135"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/collision/wrist1.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="1.96"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0.005108247956699999" ixy="0.0" ixz="0.0" iyy="0.005108247956699999" iyz="0.0" izz="0.005512499999999999"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="wrist_2_link_3">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.12"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/visual/wrist2.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.12"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/collision/wrist2.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="1.96"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0.005108247956699999" ixy="0.0" ixz="0.0" iyy="0.005108247956699999" iyz="0.0" izz="0.005512499999999999"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="wrist_3_link_3">
|
||||
<visual>
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.1168"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/visual/wrist3.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.1168"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/collision/wrist3.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.202"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 -0.025"/>
|
||||
<inertia ixx="0.00014434577559500002" ixy="0.0" ixz="0.0" iyy="0.00014434577559500002" iyz="0.0" izz="0.00020452500000000002"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
</robot>
|
||||
359
src/curobo/content/assets/robot/ur_description/ur10e.urdf
Normal file
359
src/curobo/content/assets/robot/ur_description/ur10e.urdf
Normal file
@@ -0,0 +1,359 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from ur_description/urdf/ur10e.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<robot name="ur10e_robot">
|
||||
<!--
|
||||
Base UR robot series xacro macro.
|
||||
|
||||
NOTE: this is NOT a URDF. It cannot directly be loaded by consumers
|
||||
expecting a flattened '.urdf' file. See the top-level '.xacro' for that
|
||||
(but note: that .xacro must still be processed by the xacro command).
|
||||
|
||||
For use in '.launch' files: use one of the 'load_urX.launch' convenience
|
||||
launch files.
|
||||
|
||||
This file models the base kinematic chain of a UR robot, which then gets
|
||||
parameterised by various configuration files to convert it into a UR3(e),
|
||||
UR5(e), UR10(e) or UR16e.
|
||||
|
||||
NOTE: the default kinematic parameters (ie: link lengths, frame locations,
|
||||
offets, etc) do not correspond to any particular robot. They are defaults
|
||||
only. There WILL be non-zero offsets between the Forward Kinematics results
|
||||
in TF (ie: robot_state_publisher) and the values reported by the Teach
|
||||
Pendant.
|
||||
|
||||
For accurate (and robot-specific) transforms, the 'kinematics_parameters_file'
|
||||
parameter MUST point to a .yaml file containing the appropriate values for
|
||||
the targetted robot.
|
||||
|
||||
If using the UniversalRobots/Universal_Robots_ROS_Driver, follow the steps
|
||||
described in the readme of that repository to extract the kinematic
|
||||
calibration from the controller and generate the required .yaml file.
|
||||
|
||||
Main author of the migration to yaml configs: Ludovic Delval.
|
||||
|
||||
Contributors to previous versions (in no particular order):
|
||||
|
||||
- Felix Messmer
|
||||
- Kelsey Hawkins
|
||||
- Wim Meeussen
|
||||
- Shaun Edwards
|
||||
- Nadia Hammoudeh Garcia
|
||||
- Dave Hershberger
|
||||
- G. vd. Hoorn
|
||||
- Philip Long
|
||||
- Dave Coleman
|
||||
- Miguel Prada
|
||||
- Mathias Luedtke
|
||||
- Marcel Schnirring
|
||||
- Felix von Drigalski
|
||||
- Felix Exner
|
||||
- Jimmy Da Silva
|
||||
- Ajit Krisshna N L
|
||||
- Muhammad Asif Rana
|
||||
-->
|
||||
<!--
|
||||
NOTE: the macro defined in this file is NOT part of the public API of this
|
||||
package. Users CANNOT rely on this file being available, or stored in
|
||||
this location. Nor can they rely on the existence of the macro.
|
||||
-->
|
||||
<transmission name="shoulder_pan_trans">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="shoulder_pan_joint">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="shoulder_pan_motor">
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="shoulder_lift_trans">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="shoulder_lift_joint">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="shoulder_lift_motor">
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="elbow_trans">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="elbow_joint">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="elbow_motor">
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="wrist_1_trans">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="wrist_1_joint">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="wrist_1_motor">
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="wrist_2_trans">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="wrist_2_joint">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="wrist_2_motor">
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="wrist_3_trans">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="wrist_3_joint">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="wrist_3_motor">
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<!-- links: main serial chain -->
|
||||
<link name="base_link"/>
|
||||
<link name="base_link_inertia">
|
||||
<visual>
|
||||
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/visual/base.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/collision/base.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="4.0"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0.0061063308908" ixy="0.0" ixz="0.0" iyy="0.0061063308908" iyz="0.0" izz="0.01125"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="shoulder_link">
|
||||
<visual>
|
||||
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/visual/shoulder.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/collision/shoulder.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="7.778"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0.03147431257693659" ixy="0.0" ixz="0.0" iyy="0.03147431257693659" iyz="0.0" izz="0.021875624999999996"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="upper_arm_link">
|
||||
<visual>
|
||||
<origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.1762"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/visual/upperarm.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.1762"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/collision/upperarm.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="12.93"/>
|
||||
<origin rpy="0 1.5707963267948966 0" xyz="-0.306 0.0 0.175"/>
|
||||
<inertia ixx="0.42175380379841093" ixy="0.0" ixz="0.0" iyy="0.42175380379841093" iyz="0.0" izz="0.03636562499999999"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="forearm_link">
|
||||
<visual>
|
||||
<origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0393"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/visual/forearm.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0393"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/collision/forearm.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="3.87"/>
|
||||
<origin rpy="0 1.5707963267948966 0" xyz="-0.285775 0.0 0.0393"/>
|
||||
<inertia ixx="0.11079302548902206" ixy="0.0" ixz="0.0" iyy="0.11079302548902206" iyz="0.0" izz="0.010884375"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="wrist_1_link">
|
||||
<visual>
|
||||
<!-- TODO: Move this to a parameter -->
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.135"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/visual/wrist1.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.135"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/collision/wrist1.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="1.96"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0.005108247956699999" ixy="0.0" ixz="0.0" iyy="0.005108247956699999" iyz="0.0" izz="0.005512499999999999"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="wrist_2_link">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.12"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/visual/wrist2.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.12"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/collision/wrist2.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="1.96"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0.005108247956699999" ixy="0.0" ixz="0.0" iyy="0.005108247956699999" iyz="0.0" izz="0.005512499999999999"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="wrist_3_link">
|
||||
<visual>
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.1168"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/visual/wrist3.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.1168"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur10e/collision/wrist3.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.202"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 -0.025"/>
|
||||
<inertia ixx="0.00014434577559500002" ixy="0.0" ixz="0.0" iyy="0.00014434577559500002" iyz="0.0" izz="0.00020452500000000002"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<!-- joints: main serial chain -->
|
||||
<joint name="base_link-base_link_inertia" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="base_link_inertia"/>
|
||||
<!-- 'base_link' is REP-103 aligned (so X+ forward), while the internal
|
||||
frames of the robot/controller have X+ pointing backwards.
|
||||
Use the joint between 'base_link' and 'base_link_inertia' (a dummy
|
||||
link/frame) to introduce the necessary rotation over Z (of pi rad).
|
||||
-->
|
||||
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||
</joint>
|
||||
<joint name="shoulder_pan_joint" type="revolute">
|
||||
<parent link="base_link_inertia"/>
|
||||
<child link="shoulder_link"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.1807"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="330.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="2.0943951023931953"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
<joint name="shoulder_lift_joint" type="revolute">
|
||||
<parent link="shoulder_link"/>
|
||||
<child link="upper_arm_link"/>
|
||||
<origin rpy="1.570796327 0 0" xyz="0 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="330.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="2.0943951023931953"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
<joint name="elbow_joint" type="revolute">
|
||||
<parent link="upper_arm_link"/>
|
||||
<child link="forearm_link"/>
|
||||
<origin rpy="0 0 0" xyz="-0.6127 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="150.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="3.141592653589793"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
<joint name="wrist_1_joint" type="revolute">
|
||||
<parent link="forearm_link"/>
|
||||
<child link="wrist_1_link"/>
|
||||
<origin rpy="0 0 0" xyz="-0.57155 0 0.17415"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="56.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
<joint name="wrist_2_joint" type="revolute">
|
||||
<parent link="wrist_1_link"/>
|
||||
<child link="wrist_2_link"/>
|
||||
<origin rpy="1.570796327 0 0" xyz="0 -0.11985 -2.458164590756244e-11"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="56.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
<joint name="wrist_3_joint" type="revolute">
|
||||
<parent link="wrist_2_link"/>
|
||||
<child link="wrist_3_link"/>
|
||||
<origin rpy="1.570796326589793 3.141592653589793 3.141592653589793" xyz="0 0.11655 -2.390480459346185e-11"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="56.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
<!-- ROS-Industrial 'base' frame: base_link to UR 'Base' Coordinates transform -->
|
||||
<link name="base"/>
|
||||
<joint name="base_link-base_fixed_joint" type="fixed">
|
||||
<!-- Note the rotation over Z of pi radians: as base_link is REP-103
|
||||
aligned (ie: has X+ forward, Y+ left and Z+ up), this is needed
|
||||
to correctly align 'base' with the 'Base' coordinate system of
|
||||
the UR controller.
|
||||
-->
|
||||
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="base"/>
|
||||
</joint>
|
||||
<!-- ROS-Industrial 'flange' frame: attachment point for EEF models -->
|
||||
<link name="flange"/>
|
||||
<joint name="wrist_3-flange" type="fixed">
|
||||
<parent link="wrist_3_link"/>
|
||||
<child link="flange"/>
|
||||
<origin rpy="0 -1.5707963267948966 -1.5707963267948966" xyz="0 0 0"/>
|
||||
</joint>
|
||||
<!-- ROS-Industrial 'tool0' frame: all-zeros tool frame -->
|
||||
<link name="tool0"/>
|
||||
<joint name="flange-tool0" type="fixed">
|
||||
<!-- default toolframe: X+ left, Y+ up, Z+ front -->
|
||||
<origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0 0 0"/>
|
||||
<parent link="flange"/>
|
||||
<child link="tool0"/>
|
||||
</joint>
|
||||
</robot>
|
||||
359
src/curobo/content/assets/robot/ur_description/ur5e.urdf
Normal file
359
src/curobo/content/assets/robot/ur_description/ur5e.urdf
Normal file
@@ -0,0 +1,359 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from ur_description/urdf/ur5e.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<robot name="ur5e_robot">
|
||||
<!--
|
||||
Base UR robot series xacro macro.
|
||||
|
||||
NOTE: this is NOT a URDF. It cannot directly be loaded by consumers
|
||||
expecting a flattened '.urdf' file. See the top-level '.xacro' for that
|
||||
(but note: that .xacro must still be processed by the xacro command).
|
||||
|
||||
For use in '.launch' files: use one of the 'load_urX.launch' convenience
|
||||
launch files.
|
||||
|
||||
This file models the base kinematic chain of a UR robot, which then gets
|
||||
parameterised by various configuration files to convert it into a UR3(e),
|
||||
UR5(e), UR10(e) or UR16e.
|
||||
|
||||
NOTE: the default kinematic parameters (ie: link lengths, frame locations,
|
||||
offets, etc) do not correspond to any particular robot. They are defaults
|
||||
only. There WILL be non-zero offsets between the Forward Kinematics results
|
||||
in TF (ie: robot_state_publisher) and the values reported by the Teach
|
||||
Pendant.
|
||||
|
||||
For accurate (and robot-specific) transforms, the 'kinematics_parameters_file'
|
||||
parameter MUST point to a .yaml file containing the appropriate values for
|
||||
the targetted robot.
|
||||
|
||||
If using the UniversalRobots/Universal_Robots_ROS_Driver, follow the steps
|
||||
described in the readme of that repository to extract the kinematic
|
||||
calibration from the controller and generate the required .yaml file.
|
||||
|
||||
Main author of the migration to yaml configs: Ludovic Delval.
|
||||
|
||||
Contributors to previous versions (in no particular order):
|
||||
|
||||
- Felix Messmer
|
||||
- Kelsey Hawkins
|
||||
- Wim Meeussen
|
||||
- Shaun Edwards
|
||||
- Nadia Hammoudeh Garcia
|
||||
- Dave Hershberger
|
||||
- G. vd. Hoorn
|
||||
- Philip Long
|
||||
- Dave Coleman
|
||||
- Miguel Prada
|
||||
- Mathias Luedtke
|
||||
- Marcel Schnirring
|
||||
- Felix von Drigalski
|
||||
- Felix Exner
|
||||
- Jimmy Da Silva
|
||||
- Ajit Krisshna N L
|
||||
- Muhammad Asif Rana
|
||||
-->
|
||||
<!--
|
||||
NOTE: the macro defined in this file is NOT part of the public API of this
|
||||
package. Users CANNOT rely on this file being available, or stored in
|
||||
this location. Nor can they rely on the existence of the macro.
|
||||
-->
|
||||
<transmission name="shoulder_pan_trans">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="shoulder_pan_joint">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="shoulder_pan_motor">
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="shoulder_lift_trans">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="shoulder_lift_joint">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="shoulder_lift_motor">
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="elbow_trans">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="elbow_joint">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="elbow_motor">
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="wrist_1_trans">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="wrist_1_joint">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="wrist_1_motor">
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="wrist_2_trans">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="wrist_2_joint">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="wrist_2_motor">
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="wrist_3_trans">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="wrist_3_joint">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="wrist_3_motor">
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<!-- links: main serial chain -->
|
||||
<link name="base_link"/>
|
||||
<link name="base_link_inertia">
|
||||
<visual>
|
||||
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur5e/visual/base.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur5e/collision/base.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="4.0"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="shoulder_link">
|
||||
<visual>
|
||||
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur5e/visual/shoulder.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur5e/collision/shoulder.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="3.7"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0.010267495893" ixy="0.0" ixz="0.0" iyy="0.010267495893" iyz="0.0" izz="0.00666"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="upper_arm_link">
|
||||
<visual>
|
||||
<origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.138"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur5e/visual/upperarm.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.138"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur5e/collision/upperarm.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="8.393"/>
|
||||
<origin rpy="0 1.5707963267948966 0" xyz="-0.2125 0.0 0.138"/>
|
||||
<inertia ixx="0.1338857818623325" ixy="0.0" ixz="0.0" iyy="0.1338857818623325" iyz="0.0" izz="0.0151074"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="forearm_link">
|
||||
<visual>
|
||||
<origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.007"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur5e/visual/forearm.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.007"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur5e/collision/forearm.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="2.275"/>
|
||||
<origin rpy="0 1.5707963267948966 0" xyz="-0.1961 0.0 0.007"/>
|
||||
<inertia ixx="0.031209355099586295" ixy="0.0" ixz="0.0" iyy="0.031209355099586295" iyz="0.0" izz="0.004095"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="wrist_1_link">
|
||||
<visual>
|
||||
<!-- TODO: Move this to a parameter -->
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.127"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur5e/visual/wrist1.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.127"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur5e/collision/wrist1.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="1.219"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0.0025598989760400002" ixy="0.0" ixz="0.0" iyy="0.0025598989760400002" iyz="0.0" izz="0.0021942"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="wrist_2_link">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.0997"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur5e/visual/wrist2.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.0997"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur5e/collision/wrist2.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="1.219"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0.0025598989760400002" ixy="0.0" ixz="0.0" iyy="0.0025598989760400002" iyz="0.0" izz="0.0021942"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="wrist_3_link">
|
||||
<visual>
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.0989"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur5e/visual/wrist3.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.0989"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur5e/collision/wrist3.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1879"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 -0.0229"/>
|
||||
<inertia ixx="9.890410052167731e-05" ixy="0.0" ixz="0.0" iyy="9.890410052167731e-05" iyz="0.0" izz="0.0001321171875"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<!-- joints: main serial chain -->
|
||||
<joint name="base_link-base_link_inertia" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="base_link_inertia"/>
|
||||
<!-- 'base_link' is REP-103 aligned (so X+ forward), while the internal
|
||||
frames of the robot/controller have X+ pointing backwards.
|
||||
Use the joint between 'base_link' and 'base_link_inertia' (a dummy
|
||||
link/frame) to introduce the necessary rotation over Z (of pi rad).
|
||||
-->
|
||||
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||
</joint>
|
||||
<joint name="shoulder_pan_joint" type="revolute">
|
||||
<parent link="base_link_inertia"/>
|
||||
<child link="shoulder_link"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.1625"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="150.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
<joint name="shoulder_lift_joint" type="revolute">
|
||||
<parent link="shoulder_link"/>
|
||||
<child link="upper_arm_link"/>
|
||||
<origin rpy="1.570796327 0 0" xyz="0 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="150.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
<joint name="elbow_joint" type="revolute">
|
||||
<parent link="upper_arm_link"/>
|
||||
<child link="forearm_link"/>
|
||||
<origin rpy="0 0 0" xyz="-0.425 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="150.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="3.141592653589793"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
<joint name="wrist_1_joint" type="revolute">
|
||||
<parent link="forearm_link"/>
|
||||
<child link="wrist_1_link"/>
|
||||
<origin rpy="0 0 0" xyz="-0.3922 0 0.1333"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
<joint name="wrist_2_joint" type="revolute">
|
||||
<parent link="wrist_1_link"/>
|
||||
<child link="wrist_2_link"/>
|
||||
<origin rpy="1.570796327 0 0" xyz="0 -0.0997 -2.044881182297852e-11"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
<joint name="wrist_3_joint" type="revolute">
|
||||
<parent link="wrist_2_link"/>
|
||||
<child link="wrist_3_link"/>
|
||||
<origin rpy="1.570796326589793 3.141592653589793 3.141592653589793" xyz="0 0.0996 -2.042830148012698e-11"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
<!-- ROS-Industrial 'base' frame: base_link to UR 'Base' Coordinates transform -->
|
||||
<link name="base"/>
|
||||
<joint name="base_link-base_fixed_joint" type="fixed">
|
||||
<!-- Note the rotation over Z of pi radians: as base_link is REP-103
|
||||
aligned (ie: has X+ forward, Y+ left and Z+ up), this is needed
|
||||
to correctly align 'base' with the 'Base' coordinate system of
|
||||
the UR controller.
|
||||
-->
|
||||
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="base"/>
|
||||
</joint>
|
||||
<!-- ROS-Industrial 'flange' frame: attachment point for EEF models -->
|
||||
<link name="flange"/>
|
||||
<joint name="wrist_3-flange" type="fixed">
|
||||
<parent link="wrist_3_link"/>
|
||||
<child link="flange"/>
|
||||
<origin rpy="0 -1.5707963267948966 -1.5707963267948966" xyz="0 0 0"/>
|
||||
</joint>
|
||||
<!-- ROS-Industrial 'tool0' frame: all-zeros tool frame -->
|
||||
<link name="tool0"/>
|
||||
<joint name="flange-tool0" type="fixed">
|
||||
<!-- default toolframe: X+ left, Y+ up, Z+ front -->
|
||||
<origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0 0 0"/>
|
||||
<parent link="flange"/>
|
||||
<child link="tool0"/>
|
||||
</joint>
|
||||
</robot>
|
||||
@@ -0,0 +1,3 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:93892dddfc6a65dedc4ef311e773eba7273b29f0a2cdcb76637013fdadf22897
|
||||
size 87195648
|
||||
@@ -0,0 +1,3 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:4b82b0a4873d7bf1796893a47f9b41ab7cd32751d8caa102cfea3f401f75dd70
|
||||
size 1773918
|
||||
63
src/curobo/content/configs/robot/dual_ur10e.yml
Normal file
63
src/curobo/content/configs/robot/dual_ur10e.yml
Normal file
@@ -0,0 +1,63 @@
|
||||
##
|
||||
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
||||
##
|
||||
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
||||
## property and proprietary rights in and to this material, related
|
||||
## documentation and any modifications thereto. Any use, reproduction,
|
||||
## disclosure or distribution of this material and related documentation
|
||||
## without an express license agreement from NVIDIA CORPORATION or
|
||||
## its affiliates is strictly prohibited.
|
||||
##
|
||||
|
||||
robot_cfg:
|
||||
kinematics:
|
||||
use_usd_kinematics: False
|
||||
urdf_path: "robot/ur_description/dual_ur10e.urdf"
|
||||
asset_root_path: "robot/ur_description"
|
||||
isaac_usd_path: "/Isaac/Robots/UR10/ur10_long_suction.usd"
|
||||
usd_robot_root: "/ur10"
|
||||
usd_path: "robot/ur_description/dual_ur10e.usd"
|
||||
base_link: "base_fixture_link"
|
||||
ee_link: "tool0"
|
||||
link_names: [ "tool1", "tool0"] # , "tool2"] #, "tool3"]
|
||||
collision_link_names: [
|
||||
'shoulder_link','upper_arm_link', 'forearm_link', 'wrist_1_link', 'wrist_2_link' ,'wrist_3_link', 'tool0',
|
||||
'shoulder_link_1','upper_arm_link_1', 'forearm_link_1', 'wrist_1_link_1', 'wrist_2_link_1' ,'wrist_3_link_1', 'tool1']
|
||||
collision_spheres: 'spheres/dual_ur10e.yml'
|
||||
collision_sphere_buffer: 0.005
|
||||
|
||||
|
||||
self_collision_ignore: {
|
||||
"upper_arm_link": ["shoulder_link","forearm_link"],
|
||||
"forarm_link": ["wrist_1_link"],
|
||||
"wrist_1_link": ["wrist_2_link","wrist_3_link"],
|
||||
"wrist_2_link": ["wrist_3_link", "tool0"],
|
||||
"wrist_3_link": ["tool0"],
|
||||
|
||||
"upper_arm_link_1": ["shoulder_link_1","forearm_link_1"],
|
||||
"forarm_link_1": ["wrist_1_link_1"],
|
||||
"wrist_1_link_1": ["wrist_2_link_1","wrist_3_link_1"],
|
||||
"wrist_2_link_1": ["wrist_3_link_1", "tool1"],
|
||||
"wrist_3_link_1": ["tool1"],
|
||||
|
||||
}
|
||||
self_collision_buffer: {
|
||||
'shoulder_link': 0.05,
|
||||
'shoulder_link_1': 0.05,
|
||||
|
||||
}
|
||||
lock_joints: null
|
||||
|
||||
cspace:
|
||||
joint_names: [
|
||||
'shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint',
|
||||
'shoulder_pan_joint_1', 'shoulder_lift_joint_1', 'elbow_joint_1', 'wrist_1_joint_1', 'wrist_2_joint_1', 'wrist_3_joint_1']
|
||||
retract_config: [-1.57, -2.2, 1.9, -1.383, -1.57, 0.00,
|
||||
-1.57, -2.2, 1.9, -1.383, -1.57, 0.00]
|
||||
null_space_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
|
||||
1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
|
||||
cspace_distance_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
|
||||
1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
|
||||
|
||||
max_jerk: 500.0
|
||||
max_acceleration: 15.0
|
||||
113
src/curobo/content/configs/robot/franka.yml
Normal file
113
src/curobo/content/configs/robot/franka.yml
Normal file
@@ -0,0 +1,113 @@
|
||||
##
|
||||
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
||||
##
|
||||
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
||||
## property and proprietary rights in and to this material, related
|
||||
## documentation and any modifications thereto. Any use, reproduction,
|
||||
## disclosure or distribution of this material and related documentation
|
||||
## without an express license agreement from NVIDIA CORPORATION or
|
||||
## its affiliates is strictly prohibited.
|
||||
##
|
||||
|
||||
robot_cfg:
|
||||
kinematics:
|
||||
use_usd_kinematics: False
|
||||
isaac_usd_path: "/Isaac/Robots/Franka/franka.usd"
|
||||
usd_path: "robot/non_shipping/franka/franka_panda_meters1.usda"
|
||||
usd_robot_root: "/panda"
|
||||
usd_flip_joints: ["panda_joint1","panda_joint2","panda_joint3","panda_joint4", "panda_joint5",
|
||||
"panda_joint6","panda_joint7","panda_finger_joint1", "panda_finger_joint2"]
|
||||
usd_flip_joints: {
|
||||
"panda_joint1": "Z",
|
||||
"panda_joint2": "Z",
|
||||
"panda_joint3": "Z",
|
||||
"panda_joint4": "Z",
|
||||
"panda_joint5": "Z",
|
||||
"panda_joint6": "Z",
|
||||
"panda_joint7": "Z",
|
||||
"panda_finger_joint1": "Y",
|
||||
"panda_finger_joint2": "Y",
|
||||
}
|
||||
usd_flip_joint_limits: ["panda_finger_joint2"]
|
||||
urdf_path: "robot/franka_description/franka_panda.urdf"
|
||||
asset_root_path: "robot/franka_description"
|
||||
base_link: "base_link"
|
||||
ee_link: "panda_hand"
|
||||
collision_link_names:
|
||||
[
|
||||
"panda_link0",
|
||||
"panda_link1",
|
||||
"panda_link2",
|
||||
"panda_link3",
|
||||
"panda_link4",
|
||||
"panda_link5",
|
||||
"panda_link6",
|
||||
"panda_link7",
|
||||
"panda_hand",
|
||||
"panda_leftfinger",
|
||||
"panda_rightfinger",
|
||||
"attached_object",
|
||||
]
|
||||
collision_spheres: "spheres/franka_mesh.yml"
|
||||
collision_sphere_buffer: 0.0025
|
||||
extra_collision_spheres: {"attached_object": 4}
|
||||
use_global_cumul: True
|
||||
self_collision_ignore:
|
||||
{
|
||||
"panda_link0": ["panda_link1", "panda_link2"],
|
||||
"panda_link1": ["panda_link2", "panda_link3", "panda_link4"],
|
||||
"panda_link2": ["panda_link3", "panda_link4"],
|
||||
"panda_link3": ["panda_link4", "panda_link6"],
|
||||
"panda_link4":
|
||||
["panda_link5", "panda_link6", "panda_link7", "panda_link8"],
|
||||
"panda_link5": ["panda_link6", "panda_link7", "panda_hand","panda_leftfinger", "panda_rightfinger"],
|
||||
"panda_link6": ["panda_link7", "panda_hand", "attached_object", "panda_leftfinger", "panda_rightfinger"],
|
||||
"panda_link7": ["panda_hand", "attached_object", "panda_leftfinger", "panda_rightfinger"],
|
||||
"panda_hand": ["panda_leftfinger", "panda_rightfinger","attached_object"],
|
||||
"panda_leftfinger": ["panda_rightfinger", "attached_object"],
|
||||
"panda_rightfinger": ["attached_object"],
|
||||
|
||||
}
|
||||
|
||||
self_collision_buffer:
|
||||
{
|
||||
"panda_link0": 0.1,
|
||||
"panda_link1": 0.05,
|
||||
"panda_link2": 0.0,
|
||||
"panda_link3": 0.0,
|
||||
"panda_link4": 0.0,
|
||||
"panda_link5": 0.0,
|
||||
"panda_link6": 0.0,
|
||||
"panda_link7": 0.0,
|
||||
"panda_hand": 0.02,
|
||||
"panda_leftfinger": 0.01,
|
||||
"panda_rightfinger": 0.01,
|
||||
"attached_object": 0.0,
|
||||
}
|
||||
|
||||
mesh_link_names:
|
||||
[
|
||||
"panda_link0",
|
||||
"panda_link1",
|
||||
"panda_link2",
|
||||
"panda_link3",
|
||||
"panda_link4",
|
||||
"panda_link5",
|
||||
"panda_link6",
|
||||
"panda_link7",
|
||||
"panda_hand",
|
||||
"panda_leftfinger",
|
||||
"panda_rightfinger",
|
||||
]
|
||||
lock_joints: {"panda_finger_joint1": 0.04, "panda_finger_joint2": -0.04}
|
||||
extra_links: {"attached_object":{"parent_link_name": "panda_hand" ,
|
||||
"link_name": "attached_object", "fixed_transform": [0,0,0,1,0,0,0], "joint_type":"FIXED",
|
||||
"joint_name": "attach_joint" }}
|
||||
cspace:
|
||||
joint_names: ["panda_joint1","panda_joint2","panda_joint3","panda_joint4", "panda_joint5",
|
||||
"panda_joint6","panda_joint7","panda_finger_joint1", "panda_finger_joint2"]
|
||||
retract_config: [0.0, -1.3, 0.0, -2.5, 0.0, 1.0, 0., 0.04, -0.04]
|
||||
null_space_weight: [1,1,1,1,1,1,1,1,1]
|
||||
cspace_distance_weight: [1,1,1,1,1,1,1,1,1]
|
||||
max_acceleration: 15.0
|
||||
max_jerk: 500.0
|
||||
116
src/curobo/content/configs/robot/franka_mobile.yml
Normal file
116
src/curobo/content/configs/robot/franka_mobile.yml
Normal file
@@ -0,0 +1,116 @@
|
||||
##
|
||||
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
||||
##
|
||||
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
||||
## property and proprietary rights in and to this material, related
|
||||
## documentation and any modifications thereto. Any use, reproduction,
|
||||
## disclosure or distribution of this material and related documentation
|
||||
## without an express license agreement from NVIDIA CORPORATION or
|
||||
## its affiliates is strictly prohibited.
|
||||
##
|
||||
|
||||
robot_cfg:
|
||||
kinematics:
|
||||
use_usd_kinematics: False
|
||||
isaac_usd_path: "/Isaac/Robots/Franka/franka.usd"
|
||||
usd_path: "robot/franka_description/franka_panda_meters.usda"
|
||||
usd_robot_root: "/panda"
|
||||
usd_flip_joints: ["panda_joint1","panda_joint2","panda_joint3","panda_joint4", "panda_joint5",
|
||||
"panda_joint6","panda_joint7","panda_finger_joint1", "panda_finger_joint2"]
|
||||
usd_flip_joints: {
|
||||
"panda_joint1": "Z",
|
||||
"panda_joint2": "Z",
|
||||
"panda_joint3": "Z",
|
||||
"panda_joint4": "Z",
|
||||
"panda_joint5": "Z",
|
||||
"panda_joint6": "Z",
|
||||
"panda_joint7": "Z",
|
||||
"panda_finger_joint1": "Y",
|
||||
"panda_finger_joint2": "Y",
|
||||
}
|
||||
usd_flip_joint_limits: ["panda_finger_joint2"]
|
||||
urdf_path: "robot/franka_description/franka_panda_mobile_xy_tz.urdf"
|
||||
asset_root_path: "robot/franka_description"
|
||||
base_link: "base_link"
|
||||
ee_link: "panda_hand"
|
||||
# link_names: null
|
||||
collision_link_names:
|
||||
[
|
||||
"panda_link0",
|
||||
"panda_link1",
|
||||
"panda_link2",
|
||||
"panda_link3",
|
||||
"panda_link4",
|
||||
"panda_link5",
|
||||
"panda_link6",
|
||||
"panda_link7",
|
||||
"panda_hand",
|
||||
"panda_leftfinger",
|
||||
"panda_rightfinger",
|
||||
"attached_object",
|
||||
]
|
||||
collision_spheres: "spheres/franka_mesh.yml"
|
||||
collision_sphere_buffer: 0.002 #0.02
|
||||
extra_collision_spheres: {"attached_object": 4}
|
||||
use_global_cumul: True
|
||||
self_collision_ignore:
|
||||
{
|
||||
"panda_link0": ["panda_link1", "panda_link2"],
|
||||
"panda_link1": ["panda_link2", "panda_link3", "panda_link4"],
|
||||
"panda_link2": ["panda_link3", "panda_link4"],
|
||||
"panda_link3": ["panda_link4", "panda_link6"],
|
||||
"panda_link4":
|
||||
["panda_link5", "panda_link6", "panda_link7", "panda_link8"],
|
||||
"panda_link5": ["panda_link6", "panda_link7", "panda_hand","panda_leftfinger", "panda_rightfinger"],
|
||||
"panda_link6": ["panda_link7", "panda_hand", "attached_object", "panda_leftfinger", "panda_rightfinger"],
|
||||
"panda_link7": ["panda_hand", "attached_object", "panda_leftfinger", "panda_rightfinger"],
|
||||
"panda_hand": ["panda_leftfinger", "panda_rightfinger","attached_object"],
|
||||
"panda_leftfinger": ["panda_rightfinger", "attached_object"],
|
||||
"panda_rightfinger": ["attached_object"],
|
||||
|
||||
}
|
||||
|
||||
self_collision_buffer:
|
||||
{
|
||||
"panda_link0": 0.1,
|
||||
"panda_link1": 0.05,
|
||||
"panda_link2": 0.0,
|
||||
"panda_link3": 0.0,
|
||||
"panda_link4": 0.0,
|
||||
"panda_link5": 0.0,
|
||||
"panda_link6": 0.0,
|
||||
"panda_link7": 0.0,
|
||||
"panda_hand": 0.02,
|
||||
"panda_leftfinger": 0.01,
|
||||
"panda_rightfinger": 0.01,
|
||||
"attached_object": 0.0,
|
||||
}
|
||||
|
||||
mesh_link_names:
|
||||
[
|
||||
"panda_link0",
|
||||
"panda_link1",
|
||||
"panda_link2",
|
||||
"panda_link3",
|
||||
"panda_link4",
|
||||
"panda_link5",
|
||||
"panda_link6",
|
||||
"panda_link7",
|
||||
"panda_hand",
|
||||
"panda_leftfinger",
|
||||
"panda_rightfinger",
|
||||
]
|
||||
lock_joints: {"panda_finger_joint1": 0.04, "panda_finger_joint2": -0.04}
|
||||
extra_links: {"attached_object":{"parent_link_name": "panda_hand" ,
|
||||
"link_name": "attached_object", "fixed_transform": [0,0,0,1,0,0,0], "joint_type":"FIXED",
|
||||
"joint_name": "attach_joint" }}
|
||||
cspace:
|
||||
joint_names: [
|
||||
"base_x", "base_y", "base_z",
|
||||
"panda_joint1","panda_joint2","panda_joint3","panda_joint4", "panda_joint5",
|
||||
"panda_joint6","panda_joint7","panda_finger_joint1", "panda_finger_joint2"]
|
||||
retract_config: [0,0,0,0.0, -1.3, 0.0, -2.5, 0.0, 1.0, 0., 0.04, -0.04]
|
||||
null_space_weight: [1,1,1,1,1,1,1,1,1,1,1,1]
|
||||
cspace_distance_weight: [1,1,1,1,1,1,1,1,1,1,1,1]
|
||||
max_acceleration: 15.0 #15.0
|
||||
max_jerk: 500.0
|
||||
81
src/curobo/content/configs/robot/iiwa.yml
Normal file
81
src/curobo/content/configs/robot/iiwa.yml
Normal file
@@ -0,0 +1,81 @@
|
||||
##
|
||||
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
||||
##
|
||||
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
||||
## property and proprietary rights in and to this material, related
|
||||
## documentation and any modifications thereto. Any use, reproduction,
|
||||
## disclosure or distribution of this material and related documentation
|
||||
## without an express license agreement from NVIDIA CORPORATION or
|
||||
## its affiliates is strictly prohibited.
|
||||
##
|
||||
robot_cfg:
|
||||
kinematics:
|
||||
base_link: base_link
|
||||
collision_link_names:
|
||||
- iiwa7_link_1
|
||||
- iiwa7_link_2
|
||||
- iiwa7_link_3
|
||||
- iiwa7_link_4
|
||||
- iiwa7_link_5
|
||||
- iiwa7_link_6
|
||||
collision_sphere_buffer: 0.005
|
||||
collision_spheres: spheres/iiwa_allegro.yml
|
||||
ee_link: iiwa7_link_ee
|
||||
self_collision_buffer:
|
||||
iiwa7_link_1: -0.02
|
||||
iiwa7_link_2: 0.0
|
||||
iiwa7_link_3: 0.0
|
||||
iiwa7_link_4: 0.0
|
||||
iiwa7_link_5: 0.0
|
||||
iiwa7_link_6: 0.0
|
||||
|
||||
self_collision_ignore:
|
||||
{
|
||||
iiwa7_link_1: [iiwa7_link_2, iiwa7_link_3],
|
||||
iiwa7_link_2: [iiwa7_link_3, iiwa7_link_4],
|
||||
iiwa7_link_3: [iiwa7_link_4, iiwa7_link_5],
|
||||
iiwa7_link_4: [iiwa7_link_5, iiwa7_link_6],
|
||||
iiwa7_link_5: [iiwa7_link_6],
|
||||
}
|
||||
urdf_path: robot/iiwa_allegro_description/iiwa.urdf
|
||||
asset_root_path: robot/iiwa_allegro_description
|
||||
|
||||
cspace:
|
||||
joint_names:
|
||||
[
|
||||
"iiwa7_joint_1",
|
||||
"iiwa7_joint_2",
|
||||
"iiwa7_joint_3",
|
||||
"iiwa7_joint_4",
|
||||
"iiwa7_joint_5",
|
||||
"iiwa7_joint_6",
|
||||
"iiwa7_joint_7",
|
||||
]
|
||||
cspace_distance_weight:
|
||||
- 1.0
|
||||
- 0.9
|
||||
- 0.8
|
||||
- 0.8
|
||||
- 0.7
|
||||
- 0.6
|
||||
- 0.5
|
||||
|
||||
null_space_weight:
|
||||
- 1.0
|
||||
- 1.0
|
||||
- 1.0
|
||||
- 1.0
|
||||
- 1.0
|
||||
- 1.0
|
||||
- 1.0
|
||||
|
||||
retract_config:
|
||||
- 0.0
|
||||
- -0.78
|
||||
- 0.0
|
||||
- -1.4
|
||||
- 0.0
|
||||
- 0.6
|
||||
- 0.0
|
||||
max_acceleration: 15.0
|
||||
max_jerk: 500.0
|
||||
195
src/curobo/content/configs/robot/iiwa_allegro.yml
Normal file
195
src/curobo/content/configs/robot/iiwa_allegro.yml
Normal file
@@ -0,0 +1,195 @@
|
||||
##
|
||||
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
||||
##
|
||||
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
||||
## property and proprietary rights in and to this material, related
|
||||
## documentation and any modifications thereto. Any use, reproduction,
|
||||
## disclosure or distribution of this material and related documentation
|
||||
## without an express license agreement from NVIDIA CORPORATION or
|
||||
## its affiliates is strictly prohibited.
|
||||
##
|
||||
robot_cfg:
|
||||
kinematics:
|
||||
base_link: base_link
|
||||
collision_link_names:
|
||||
- iiwa7_link_1
|
||||
- iiwa7_link_2
|
||||
- iiwa7_link_3
|
||||
- iiwa7_link_4
|
||||
- iiwa7_link_5
|
||||
- iiwa7_link_6
|
||||
- palm_link
|
||||
- index_link_1
|
||||
- index_link_2
|
||||
- index_link_3
|
||||
- middle_link_1
|
||||
- middle_link_2
|
||||
- middle_link_3
|
||||
- ring_link_1
|
||||
- ring_link_2
|
||||
- ring_link_3
|
||||
- thumb_link_2
|
||||
- thumb_link_3
|
||||
collision_sphere_buffer: 0.005
|
||||
collision_spheres: spheres/iiwa_allegro.yml
|
||||
ee_link: index_link_3
|
||||
link_names:
|
||||
- palm_link
|
||||
- index_link_3
|
||||
- middle_link_3
|
||||
- ring_link_3
|
||||
- thumb_link_3
|
||||
self_collision_buffer:
|
||||
iiwa7_link_1: -0.02
|
||||
iiwa7_link_2: 0.0
|
||||
iiwa7_link_3: 0.0
|
||||
iiwa7_link_4: 0.0
|
||||
iiwa7_link_5: 0.0
|
||||
iiwa7_link_6: 0.0
|
||||
index_link_1: -0.0
|
||||
index_link_2: -0.0
|
||||
index_link_3: 0.0
|
||||
middle_link_1: 0.0
|
||||
middle_link_2: 0.0
|
||||
middle_link_3: 0.0
|
||||
palm_link: 0.0
|
||||
ring_link_1: 0.0
|
||||
ring_link_2: 0.0
|
||||
ring_link_3: 0.0
|
||||
thumb_link_2: 0.0
|
||||
thumb_link_3: 0.0
|
||||
self_collision_ignore: {
|
||||
iiwa7_link_1: [iiwa7_link_2, iiwa7_link_3],
|
||||
iiwa7_link_2: [iiwa7_link_3, iiwa7_link_4],
|
||||
iiwa7_link_3: [iiwa7_link_4, iiwa7_link_5],
|
||||
iiwa7_link_4: [iiwa7_link_5, iiwa7_link_6],
|
||||
iiwa7_link_5: [iiwa7_link_6, palm_link],
|
||||
iiwa7_link_6: [palm_link],
|
||||
palm_link:
|
||||
[
|
||||
index_link_1,
|
||||
index_link_2,
|
||||
middle_link_1,
|
||||
middle_link_2,
|
||||
ring_link_1,
|
||||
ring_link_2,
|
||||
thumb_link_2,
|
||||
],
|
||||
index_link_1: [index_link_2, middle_link_1, middle_link_2],
|
||||
index_link_2: [index_link_3],
|
||||
#index_link_3: [iiwa7_link_2],
|
||||
middle_link_1: [middle_link_2, ring_link_1, ring_link_2],
|
||||
middle_link_2: [middle_link_3],
|
||||
#middle_link_3: [],
|
||||
ring_link_1: [ring_link_2],
|
||||
ring_link_2: [ring_link_3],
|
||||
#ring_link_3: [iiwa7_link_2],
|
||||
thumb_link_2: [thumb_link_3],
|
||||
}
|
||||
#thumb_link_3: [iiwa7_link_2],
|
||||
urdf_path: robot/iiwa_allegro_description/iiwa_allegro.urdf
|
||||
asset_root_path: robot/iiwa_allegro_description
|
||||
usd_path: robot/iiwa_allegro_description/iiwa_allegro.usda
|
||||
usd_robot_root: /iiwa_allegro
|
||||
cspace:
|
||||
joint_names:
|
||||
[
|
||||
"iiwa7_joint_1",
|
||||
"iiwa7_joint_2",
|
||||
"iiwa7_joint_3",
|
||||
"iiwa7_joint_4",
|
||||
"iiwa7_joint_5",
|
||||
"iiwa7_joint_6",
|
||||
"iiwa7_joint_7",
|
||||
"index_joint_0",
|
||||
"index_joint_1",
|
||||
"index_joint_2",
|
||||
"index_joint_3",
|
||||
"middle_joint_0",
|
||||
"middle_joint_1",
|
||||
"middle_joint_2",
|
||||
"middle_joint_3",
|
||||
"ring_joint_0",
|
||||
"ring_joint_1",
|
||||
"ring_joint_2",
|
||||
"ring_joint_3",
|
||||
"thumb_joint_0",
|
||||
"thumb_joint_1",
|
||||
"thumb_joint_2",
|
||||
"thumb_joint_3",
|
||||
]
|
||||
cspace_distance_weight:
|
||||
- 1.0
|
||||
- 0.9
|
||||
- 0.8
|
||||
- 0.8
|
||||
- 0.7
|
||||
- 0.6
|
||||
- 0.5
|
||||
- 0.1
|
||||
- 0.1
|
||||
- 0.1
|
||||
- 0.1
|
||||
- 0.1
|
||||
- 0.1
|
||||
- 0.1
|
||||
- 0.1
|
||||
- 0.1
|
||||
- 0.1
|
||||
- 0.1
|
||||
- 0.1
|
||||
- 1.1
|
||||
- 1.1
|
||||
- 0.1
|
||||
- 0.1
|
||||
|
||||
null_space_weight:
|
||||
- 1.0
|
||||
- 1.0
|
||||
- 1.0
|
||||
- 1.0
|
||||
- 1.0
|
||||
- 1.0
|
||||
- 1.0
|
||||
- 1.0
|
||||
- 1.0
|
||||
- 1.0
|
||||
- 1.0
|
||||
- 1.0
|
||||
- 1.0 #
|
||||
- 1.0
|
||||
- 1.0
|
||||
- 1.0
|
||||
- 1.0
|
||||
- 1.0
|
||||
- 1.0
|
||||
- 1.0
|
||||
- 1.0
|
||||
- 1.0
|
||||
- 1.0
|
||||
retract_config:
|
||||
- 0.0
|
||||
- -0.78
|
||||
- 0.0
|
||||
- -1.4
|
||||
- 0.0
|
||||
- 0.6
|
||||
- 2.1
|
||||
- 0.0
|
||||
- 0.7242903113365173
|
||||
- 0.7242903113365173
|
||||
- 0.7242903113365173
|
||||
- 0.0
|
||||
- 0.7242903113365173
|
||||
- 0.7242903113365173
|
||||
- 0.7242903113365173
|
||||
- 0.0
|
||||
- 0.7242903113365173
|
||||
- 0.7242903113365173
|
||||
- 0.9249972105026245
|
||||
- 0.4101402759552002
|
||||
- 0.7242903113365173
|
||||
- 0.7417430877685547
|
||||
- 0.7242903113365173
|
||||
max_acceleration: 15.0
|
||||
max_jerk: 500.0
|
||||
@@ -0,0 +1,146 @@
|
||||
##
|
||||
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
||||
##
|
||||
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
||||
## property and proprietary rights in and to this material, related
|
||||
## documentation and any modifications thereto. Any use, reproduction,
|
||||
## disclosure or distribution of this material and related documentation
|
||||
## without an express license agreement from NVIDIA CORPORATION or
|
||||
## its affiliates is strictly prohibited.
|
||||
##
|
||||
|
||||
# The robot description defines the generalized coordinates and how to map those
|
||||
# to the underlying URDF dofs.
|
||||
|
||||
api_version: 1.0
|
||||
|
||||
# Defines the generalized coordinates. Each generalized coordinate is assumed
|
||||
# to have an entry in the URDF.
|
||||
# Lula will only use these joints to control the robot position.
|
||||
cspace:
|
||||
- j2s7s300_joint_1
|
||||
- j2s7s300_joint_2
|
||||
- j2s7s300_joint_3
|
||||
- j2s7s300_joint_4
|
||||
- j2s7s300_joint_5
|
||||
- j2s7s300_joint_6
|
||||
- j2s7s300_joint_7
|
||||
default_q: [
|
||||
0.0,1.7,0.0,0.5236,0.0,1.1345,0.0
|
||||
]
|
||||
|
||||
# Most dimensions of the cspace have a direct corresponding element
|
||||
# in the URDF. This list of rules defines how unspecified coordinates
|
||||
# should be extracted or how values in the URDF should be overwritten.
|
||||
|
||||
cspace_to_urdf_rules:
|
||||
- {name: j2s7s300_joint_finger_1, rule: fixed, value: 0.0}
|
||||
- {name: j2s7s300_joint_finger_2, rule: fixed, value: 1e-04}
|
||||
- {name: j2s7s300_joint_finger_3, rule: fixed, value: 0.0}
|
||||
- {name: j2s7s300_joint_finger_tip_1, rule: fixed, value: 0.0}
|
||||
- {name: j2s7s300_joint_finger_tip_2, rule: fixed, value: 0.0}
|
||||
- {name: j2s7s300_joint_finger_tip_3, rule: fixed, value: 0.0}
|
||||
|
||||
# Lula uses collision spheres to define the robot geometry in order to avoid
|
||||
# collisions with external obstacles. If no spheres are specified, Lula will
|
||||
# not be able to avoid obstacles.
|
||||
|
||||
collision_spheres:
|
||||
- j2s7s300_link_base:
|
||||
- "center": [0.0, -0.003, 0.103]
|
||||
"radius": 0.048
|
||||
- "center": [0.0, -0.0, 0.162]
|
||||
"radius": 0.047
|
||||
- j2s7s300_link_1:
|
||||
- "center": [-0.004, -0.002, -0.056]
|
||||
"radius": 0.05
|
||||
- "center": [0.0, 0.001, -0.119]
|
||||
"radius": 0.05
|
||||
- j2s7s300_link_2:
|
||||
- "center": [0.0, -0.162, -0.001]
|
||||
"radius": 0.049
|
||||
- "center": [-0.0, -0.0, 0.0]
|
||||
"radius": 0.05
|
||||
- "center": [0.0, -0.108, -0.001]
|
||||
"radius": 0.049
|
||||
- "center": [0.0, -0.054, -0.0]
|
||||
"radius": 0.05
|
||||
- j2s7s300_link_3:
|
||||
- "center": [-0.004, -0.0, -0.202]
|
||||
"radius": 0.05
|
||||
- "center": [0.0, 0.0, 0.0]
|
||||
"radius": 0.05
|
||||
- "center": [-0.003, -0.0, -0.161]
|
||||
"radius": 0.05
|
||||
- "center": [-0.002, -0.0, -0.121]
|
||||
"radius": 0.05
|
||||
- "center": [-0.001, -0.0, -0.081]
|
||||
"radius": 0.05
|
||||
- "center": [-0.001, -0.0, -0.04]
|
||||
"radius": 0.05
|
||||
- j2s7s300_link_4:
|
||||
- "center": [0.002, 0.21, -0.013]
|
||||
"radius": 0.04
|
||||
- "center": [0.0, 0.0, 0.0]
|
||||
"radius": 0.05
|
||||
- "center": [0.001, 0.172, -0.01]
|
||||
"radius": 0.042
|
||||
- "center": [0.001, 0.132, -0.008]
|
||||
"radius": 0.044
|
||||
- "center": [0.001, 0.09, -0.005]
|
||||
"radius": 0.046
|
||||
- "center": [0.0, 0.046, -0.003]
|
||||
"radius": 0.048
|
||||
- j2s7s300_link_5:
|
||||
- "center": [-0.001, 0.013, -0.106]
|
||||
"radius": 0.04
|
||||
- "center": [-0.003, 0.003, -0.044]
|
||||
"radius": 0.04
|
||||
- "center": [-0.002, 0.008, -0.075]
|
||||
"radius": 0.04
|
||||
- j2s7s300_link_6:
|
||||
- "center": [-0.001, 0.094, 0.0]
|
||||
"radius": 0.04
|
||||
- "center": [0.0, -0.0, -0.017]
|
||||
"radius": 0.04
|
||||
- "center": [-0.001, 0.047, -0.008]
|
||||
"radius": 0.04
|
||||
- j2s7s300_link_7:
|
||||
- "center": [-0.01, -0.017, -0.069]
|
||||
"radius": 0.045
|
||||
- "center": [0.001, 0.023, -0.076]
|
||||
"radius": 0.038
|
||||
- "center": [0.016, -0.022, -0.071]
|
||||
"radius": 0.038
|
||||
- "center": [-0.0, 0.0, -0.031]
|
||||
"radius": 0.04
|
||||
- j2s7s300_link_finger_tip_1:
|
||||
- "center": [0.009, -0.004, -0.0]
|
||||
"radius": 0.017
|
||||
- "center": [0.03, -0.007, -0.002]
|
||||
"radius": 0.015
|
||||
- j2s7s300_link_finger_tip_2:
|
||||
- "center": [0.009, -0.004, -0.0]
|
||||
"radius": 0.017
|
||||
- "center": [0.032, -0.002, -0.001]
|
||||
"radius": 0.015
|
||||
- j2s7s300_link_finger_2:
|
||||
- "center": [0.011, -0.01, -0.0]
|
||||
"radius": 0.021
|
||||
- "center": [0.032, -0.01, 0.001]
|
||||
"radius": 0.02
|
||||
- j2s7s300_link_finger_3:
|
||||
- "center": [0.011, -0.01, -0.0]
|
||||
"radius": 0.021
|
||||
- "center": [0.032, -0.01, 0.001]
|
||||
"radius": 0.02
|
||||
- j2s7s300_link_finger_tip_3:
|
||||
- "center": [0.032, -0.004, 0.001]
|
||||
"radius": 0.015
|
||||
- "center": [0.015, -0.006, -0.002]
|
||||
"radius": 0.015
|
||||
- j2s7s300_link_finger_1:
|
||||
- "center": [0.011, -0.01, -0.0]
|
||||
"radius": 0.021
|
||||
- "center": [0.032, -0.01, 0.001]
|
||||
"radius": 0.02
|
||||
103
src/curobo/content/configs/robot/isaac_sim_description/tm12.yaml
Normal file
103
src/curobo/content/configs/robot/isaac_sim_description/tm12.yaml
Normal file
@@ -0,0 +1,103 @@
|
||||
##
|
||||
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
||||
##
|
||||
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
||||
## property and proprietary rights in and to this material, related
|
||||
## documentation and any modifications thereto. Any use, reproduction,
|
||||
## disclosure or distribution of this material and related documentation
|
||||
## without an express license agreement from NVIDIA CORPORATION or
|
||||
## its affiliates is strictly prohibited.
|
||||
##
|
||||
|
||||
# The robot description defines the generalized coordinates and how to map those
|
||||
# to the underlying URDF dofs.
|
||||
|
||||
api_version: 1.0
|
||||
|
||||
# Defines the generalized coordinates. Each generalized coordinate is assumed
|
||||
# to have an entry in the URDF.
|
||||
# Lula will only use these joints to control the robot position.
|
||||
cspace:
|
||||
- shoulder_1_joint
|
||||
- shoulder_2_joint
|
||||
- elbow_joint
|
||||
- wrist_1_joint
|
||||
- wrist_2_joint
|
||||
- wrist_3_joint
|
||||
default_q: [
|
||||
-0.1,-0.8,1.5,-0.2,0.2,0.2
|
||||
]
|
||||
|
||||
# Most dimensions of the cspace have a direct corresponding element
|
||||
# in the URDF. This list of rules defines how unspecified coordinates
|
||||
# should be extracted or how values in the URDF should be overwritten.
|
||||
|
||||
cspace_to_urdf_rules:
|
||||
|
||||
# Lula uses collision spheres to define the robot geometry in order to avoid
|
||||
# collisions with external obstacles. If no spheres are specified, Lula will
|
||||
# not be able to avoid obstacles.
|
||||
|
||||
collision_spheres:
|
||||
- link_1:
|
||||
- "center": [-0.0, -0.0, 0.018]
|
||||
"radius": 0.12
|
||||
- "center": [0.0, 0.0, -0.13]
|
||||
"radius": 0.09
|
||||
- "center": [-0.017, -0.18, 0.02]
|
||||
"radius": 0.12
|
||||
- link_2:
|
||||
- "center": [0.116, 0.006, -0.182]
|
||||
"radius": 0.075
|
||||
- "center": [0.638, -0.004, -0.192]
|
||||
"radius": 0.08
|
||||
- "center": [0.19, 0.004, -0.183]
|
||||
"radius": 0.075
|
||||
- "center": [0.265, 0.003, -0.184]
|
||||
"radius": 0.075
|
||||
- "center": [0.34, 0.001, -0.186]
|
||||
"radius": 0.075
|
||||
- "center": [0.414, 0.0, -0.187]
|
||||
"radius": 0.075
|
||||
- "center": [0.489, -0.001, -0.189]
|
||||
"radius": 0.075
|
||||
- "center": [0.563, -0.003, -0.19]
|
||||
"radius": 0.075
|
||||
- link_3:
|
||||
- "center": [0.012, 0.004, -0.076]
|
||||
"radius": 0.08
|
||||
- "center": [0.55, -0.001, -0.046]
|
||||
"radius": 0.07
|
||||
- "center": [0.088, 0.003, -0.061]
|
||||
"radius": 0.06
|
||||
- "center": [0.165, 0.002, -0.056]
|
||||
"radius": 0.06
|
||||
- "center": [0.242, 0.001, -0.052]
|
||||
"radius": 0.06
|
||||
- "center": [0.319, 0.001, -0.047]
|
||||
"radius": 0.06
|
||||
- "center": [0.396, -0.0, -0.043]
|
||||
"radius": 0.06
|
||||
- "center": [0.473, -0.001, -0.038]
|
||||
"radius": 0.06
|
||||
- link_4:
|
||||
- "center": [0.0, 0.0, 0.0]
|
||||
"radius": 0.07
|
||||
- link_6:
|
||||
- "center": [0.003, -0.002, -0.028]
|
||||
"radius": 0.06
|
||||
- "center": [-0.001, 0.075, 0.009]
|
||||
"radius": 0.05
|
||||
- "center": [-0.0, 0.078, -0.028]
|
||||
"radius": 0.05
|
||||
- "center": [-0.031, 0.128, 0.008]
|
||||
"radius": 0.03
|
||||
- "center": [-0.006, 0.146, 0.0]
|
||||
"radius": 0.03
|
||||
- "center": [0.025, 0.125, 0.007]
|
||||
"radius": 0.03
|
||||
- "center": [-0.005, 0.128, 0.003]
|
||||
"radius": 0.03
|
||||
- link_5:
|
||||
- "center": [0.0, 0.0, 0.0]
|
||||
"radius": 0.08
|
||||
101
src/curobo/content/configs/robot/isaac_sim_description/ur5e.yaml
Normal file
101
src/curobo/content/configs/robot/isaac_sim_description/ur5e.yaml
Normal file
@@ -0,0 +1,101 @@
|
||||
##
|
||||
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
||||
##
|
||||
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
||||
## property and proprietary rights in and to this material, related
|
||||
## documentation and any modifications thereto. Any use, reproduction,
|
||||
## disclosure or distribution of this material and related documentation
|
||||
## without an express license agreement from NVIDIA CORPORATION or
|
||||
## its affiliates is strictly prohibited.
|
||||
##
|
||||
|
||||
# The robot description defines the generalized coordinates and how to map those
|
||||
# to the underlying URDF dofs.
|
||||
|
||||
api_version: 1.0
|
||||
|
||||
# Defines the generalized coordinates. Each generalized coordinate is assumed
|
||||
# to have an entry in the URDF.
|
||||
# Lula will only use these joints to control the robot position.
|
||||
cspace:
|
||||
- shoulder_pan_joint
|
||||
- shoulder_lift_joint
|
||||
- elbow_joint
|
||||
- wrist_1_joint
|
||||
- wrist_2_joint
|
||||
- wrist_3_joint
|
||||
default_q: [
|
||||
0.0,0.0002,0.0,0.0002,0.0,0.0
|
||||
]
|
||||
|
||||
# Most dimensions of the cspace have a direct corresponding element
|
||||
# in the URDF. This list of rules defines how unspecified coordinates
|
||||
# should be extracted or how values in the URDF should be overwritten.
|
||||
|
||||
cspace_to_urdf_rules:
|
||||
|
||||
# Lula uses collision spheres to define the robot geometry in order to avoid
|
||||
# collisions with external obstacles. If no spheres are specified, Lula will
|
||||
# not be able to avoid obstacles.
|
||||
|
||||
collision_spheres:
|
||||
- shoulder_link:
|
||||
- "center": [0.0, 0.0, 0.0]
|
||||
"radius": 0.1
|
||||
- upper_arm_link:
|
||||
- "center": [-0.416, -0.0, 0.143]
|
||||
"radius": 0.078
|
||||
- "center": [-0.015, 0.0, 0.134]
|
||||
"radius": 0.077
|
||||
- "center": [-0.14, 0.0, 0.138]
|
||||
"radius": 0.062
|
||||
- "center": [-0.285, -0.001, 0.139]
|
||||
"radius": 0.061
|
||||
- "center": [-0.376, 0.001, 0.138]
|
||||
"radius": 0.077
|
||||
- "center": [-0.222, 0.001, 0.139]
|
||||
"radius": 0.061
|
||||
- "center": [-0.055, 0.008, 0.14]
|
||||
"radius": 0.07
|
||||
- "center": [-0.001, -0.002, 0.143]
|
||||
"radius": 0.076
|
||||
- forearm_link:
|
||||
- "center": [-0.01, 0.002, 0.031]
|
||||
"radius": 0.072
|
||||
- "center": [-0.387, 0.0, 0.014]
|
||||
"radius": 0.057
|
||||
- "center": [-0.121, -0.0, 0.006]
|
||||
"radius": 0.057
|
||||
- "center": [-0.206, 0.001, 0.007]
|
||||
"radius": 0.057
|
||||
- "center": [-0.312, -0.001, 0.006]
|
||||
"radius": 0.056
|
||||
- "center": [-0.057, 0.003, 0.008]
|
||||
"radius": 0.065
|
||||
- "center": [-0.266, 0.0, 0.006]
|
||||
"radius": 0.057
|
||||
- "center": [-0.397, -0.001, -0.018]
|
||||
"radius": 0.052
|
||||
- "center": [-0.164, -0.0, 0.007]
|
||||
"radius": 0.057
|
||||
- wrist_1_link:
|
||||
- "center": [-0.0, 0.0, -0.009]
|
||||
"radius": 0.047
|
||||
- "center": [-0.0, 0.0, -0.052]
|
||||
"radius": 0.047
|
||||
- "center": [-0.002, 0.027, -0.001]
|
||||
"radius": 0.045
|
||||
- "center": [0.001, -0.01, 0.0]
|
||||
"radius": 0.046
|
||||
- wrist_2_link:
|
||||
- "center": [0.0, -0.01, -0.001]
|
||||
"radius": 0.047
|
||||
- "center": [0.0, 0.008, -0.001]
|
||||
"radius": 0.047
|
||||
- "center": [0.001, -0.001, -0.036]
|
||||
"radius": 0.047
|
||||
- "center": [0.001, -0.03, -0.0]
|
||||
"radius": 0.047
|
||||
- wrist_3_link:
|
||||
- "center": [0.001, 0.001, -0.029]
|
||||
"radius": 0.043
|
||||
217
src/curobo/content/configs/robot/jaco7.yml
Normal file
217
src/curobo/content/configs/robot/jaco7.yml
Normal file
@@ -0,0 +1,217 @@
|
||||
##
|
||||
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
||||
##
|
||||
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
||||
## property and proprietary rights in and to this material, related
|
||||
## documentation and any modifications thereto. Any use, reproduction,
|
||||
## disclosure or distribution of this material and related documentation
|
||||
## without an express license agreement from NVIDIA CORPORATION or
|
||||
## its affiliates is strictly prohibited.
|
||||
##
|
||||
|
||||
robot_cfg:
|
||||
|
||||
kinematics:
|
||||
|
||||
urdf_path: "robot/jaco/jaco_7s.urdf"
|
||||
asset_root_path: "robot/jaco"
|
||||
usd_path: "robot/jaco/jaco_7s.usda"
|
||||
isaac_usd_path: "/Isaac/Robots/Kinova/Jaco2/J2N7S300/j2n7s300_instanceable.usd"
|
||||
usd_robot_root: "/jaco"
|
||||
#usd_robot_root: "/robot"
|
||||
usd_flip_joints: {
|
||||
j2s7s300_joint_1: "Z",
|
||||
j2s7s300_joint_2: "Z",
|
||||
j2s7s300_joint_3: "Z",
|
||||
j2s7s300_joint_4: "Z",
|
||||
j2s7s300_joint_5: "Z",
|
||||
j2s7s300_joint_6: "Z",
|
||||
j2s7s300_joint_7 : "Z",
|
||||
j2s7s300_joint_finger_1: "Z",
|
||||
j2s7s300_joint_finger_2: "Z",
|
||||
j2s7s300_joint_finger_3: "Z",
|
||||
j2s7s300_joint_finger_tip_1: "Z",
|
||||
j2s7s300_joint_finger_tip_2: "Z",
|
||||
j2s7s300_joint_finger_tip_3: "Z",
|
||||
}
|
||||
base_link: "root"
|
||||
ee_link: "j2s7s300_end_effector"
|
||||
link_names: null
|
||||
|
||||
collision_link_names: [
|
||||
"j2s7s300_link_base", "j2s7s300_link_1", "j2s7s300_link_2",
|
||||
"j2s7s300_link_3", "j2s7s300_link_4", "j2s7s300_link_5", "j2s7s300_link_6", "j2s7s300_link_7",
|
||||
"j2s7s300_link_finger_tip_1", "j2s7s300_link_finger_tip_2",
|
||||
"j2s7s300_link_finger_tip_3",
|
||||
"j2s7s300_link_finger_3",
|
||||
"j2s7s300_link_finger_2",
|
||||
"j2s7s300_link_finger_1",
|
||||
]
|
||||
|
||||
collision_spheres:
|
||||
j2s7s300_link_base:
|
||||
- "center": [0.0, -0.003, 0.103]
|
||||
"radius": 0.048
|
||||
- "center": [0.0, -0.0, 0.162]
|
||||
"radius": 0.047
|
||||
j2s7s300_link_1:
|
||||
- "center": [-0.004, -0.002, -0.056]
|
||||
"radius": 0.05
|
||||
- "center": [0.0, 0.001, -0.119]
|
||||
"radius": 0.05
|
||||
j2s7s300_link_2:
|
||||
- "center": [0.0, -0.162, -0.001]
|
||||
"radius": 0.049
|
||||
- "center": [-0.0, -0.0, 0.0]
|
||||
"radius": 0.05
|
||||
- "center": [0.0, -0.108, -0.001]
|
||||
"radius": 0.049
|
||||
- "center": [0.0, -0.054, -0.0]
|
||||
"radius": 0.05
|
||||
j2s7s300_link_3:
|
||||
- "center": [-0.004, -0.0, -0.202]
|
||||
"radius": 0.05
|
||||
- "center": [0.0, 0.0, 0.0]
|
||||
"radius": 0.05
|
||||
- "center": [-0.003, -0.0, -0.161]
|
||||
"radius": 0.05
|
||||
- "center": [-0.002, -0.0, -0.121]
|
||||
"radius": 0.05
|
||||
- "center": [-0.001, -0.0, -0.081]
|
||||
"radius": 0.05
|
||||
- "center": [-0.001, -0.0, -0.04]
|
||||
"radius": 0.05
|
||||
j2s7s300_link_4:
|
||||
- "center": [0.002, 0.21, -0.013]
|
||||
"radius": 0.04
|
||||
- "center": [0.0, 0.0, 0.0]
|
||||
"radius": 0.05
|
||||
- "center": [0.001, 0.172, -0.01]
|
||||
"radius": 0.042
|
||||
- "center": [0.001, 0.132, -0.008]
|
||||
"radius": 0.044
|
||||
- "center": [0.001, 0.09, -0.005]
|
||||
"radius": 0.046
|
||||
- "center": [0.0, 0.046, -0.003]
|
||||
"radius": 0.048
|
||||
j2s7s300_link_5:
|
||||
- "center": [-0.001, 0.013, -0.106]
|
||||
"radius": 0.04
|
||||
- "center": [-0.003, 0.003, -0.044]
|
||||
"radius": 0.04
|
||||
- "center": [-0.002, 0.008, -0.075]
|
||||
"radius": 0.04
|
||||
j2s7s300_link_6:
|
||||
- "center": [-0.001, 0.094, 0.0]
|
||||
"radius": 0.04
|
||||
- "center": [0.0, -0.0, -0.017]
|
||||
"radius": 0.04
|
||||
- "center": [-0.001, 0.047, -0.008]
|
||||
"radius": 0.04
|
||||
j2s7s300_link_7:
|
||||
- "center": [-0.01, -0.017, -0.069]
|
||||
"radius": 0.045
|
||||
- "center": [0.001, 0.023, -0.076]
|
||||
"radius": 0.038
|
||||
- "center": [0.016, -0.022, -0.071]
|
||||
"radius": 0.038
|
||||
- "center": [-0.0, 0.0, -0.031]
|
||||
"radius": 0.04
|
||||
j2s7s300_link_finger_tip_1:
|
||||
- "center": [0.009, -0.004, -0.0]
|
||||
"radius": 0.017
|
||||
- "center": [0.03, -0.007, -0.002]
|
||||
"radius": 0.015
|
||||
j2s7s300_link_finger_tip_2:
|
||||
- "center": [0.009, -0.004, -0.0]
|
||||
"radius": 0.017
|
||||
- "center": [0.032, -0.002, -0.001]
|
||||
"radius": 0.015
|
||||
j2s7s300_link_finger_2:
|
||||
- "center": [0.011, -0.01, -0.0]
|
||||
"radius": 0.021
|
||||
- "center": [0.032, -0.01, 0.001]
|
||||
"radius": 0.02
|
||||
j2s7s300_link_finger_3:
|
||||
- "center": [0.011, -0.01, -0.0]
|
||||
"radius": 0.021
|
||||
- "center": [0.032, -0.01, 0.001]
|
||||
"radius": 0.02
|
||||
j2s7s300_link_finger_tip_3:
|
||||
- "center": [0.032, -0.004, 0.001]
|
||||
"radius": 0.015
|
||||
- "center": [0.015, -0.006, -0.002]
|
||||
"radius": 0.015
|
||||
j2s7s300_link_finger_1:
|
||||
- "center": [0.011, -0.01, -0.0]
|
||||
"radius": 0.021
|
||||
- "center": [0.032, -0.01, 0.001]
|
||||
"radius": 0.02
|
||||
|
||||
collision_sphere_buffer: 0.005
|
||||
self_collision_ignore: {
|
||||
"j2s7s300_link_base":["j2s7s300_link_1"],
|
||||
"j2s7s300_link_1":["j2s7s300_link_2"],
|
||||
"j2s7s300_link_2":["j2s7s300_link_3"],
|
||||
"j2s7s300_link_3":["j2s7s300_link_4"],
|
||||
"j2s7s300_link_4":["j2s7s300_link_5"],
|
||||
"j2s7s300_link_5":["j2s7s300_link_6"],
|
||||
"j2s7s300_link_6":["j2s7s300_link_7"],
|
||||
"j2s7s300_link_7":[
|
||||
"j2s7s300_link_finger_tip_1",
|
||||
"j2s7s300_link_finger_tip_2",
|
||||
"j2s7s300_link_finger_tip_3",
|
||||
"j2s7s300_link_finger_1",
|
||||
"j2s7s300_link_finger_2",
|
||||
"j2s7s300_link_finger_3",
|
||||
],
|
||||
|
||||
"j2s7s300_link_finger_3":["j2s7s300_link_finger_tip_3","j2s7s300_link_finger_2",
|
||||
"j2s7s300_link_finger_1"],
|
||||
"j2s7s300_link_finger_2":["j2s7s300_link_finger_tip_2", "j2s7s300_link_finger_1",
|
||||
"j2s7s300_link_finger_3"],
|
||||
"j2s7s300_link_finger_1":["j2s7s300_link_finger_tip_1", "j2s7s300_link_finger_2",
|
||||
"j2s7s300_link_finger_3"],
|
||||
|
||||
} # Dict[str, List[str]]
|
||||
self_collision_buffer: {} # Dict[str, float]
|
||||
|
||||
mesh_link_names: [
|
||||
"j2s7s300_link_base", "j2s7s300_link_1", "j2s7s300_link_2",
|
||||
"j2s7s300_link_3", "j2s7s300_link_4", "j2s7s300_link_5", "j2s7s300_link_6", "j2s7s300_link_7",
|
||||
"j2s7s300_link_finger_tip_1", "j2s7s300_link_finger_tip_2",
|
||||
"j2s7s300_link_finger_tip_3",
|
||||
"j2s7s300_link_finger_3",
|
||||
"j2s7s300_link_finger_2",
|
||||
"j2s7s300_link_finger_1",
|
||||
] # List[str]
|
||||
lock_joints: {"j2s7s300_joint_finger_1": 0,
|
||||
"j2s7s300_joint_finger_2": 0,
|
||||
"j2s7s300_joint_finger_3": 0,
|
||||
"j2s7s300_joint_finger_tip_1": 0,
|
||||
"j2s7s300_joint_finger_tip_2": 0,
|
||||
"j2s7s300_joint_finger_tip_3": 0,
|
||||
|
||||
}
|
||||
|
||||
cspace:
|
||||
joint_names:
|
||||
- j2s7s300_joint_1
|
||||
- j2s7s300_joint_2
|
||||
- j2s7s300_joint_3
|
||||
- j2s7s300_joint_4
|
||||
- j2s7s300_joint_5
|
||||
- j2s7s300_joint_6
|
||||
- j2s7s300_joint_7
|
||||
- j2s7s300_joint_finger_1
|
||||
- j2s7s300_joint_finger_2
|
||||
- j2s7s300_joint_finger_3
|
||||
- j2s7s300_joint_finger_tip_1
|
||||
- j2s7s300_joint_finger_tip_2
|
||||
- j2s7s300_joint_finger_tip_3
|
||||
retract_config: [0.0,4.0,0.0,5,0.0,3.0,0.0, 0,0,0,0,0,0]
|
||||
null_space_weight: [1,1,1,1,1,1,1, 1,1,1,1,1,1] # List[str]
|
||||
cspace_distance_weight: [1,1,1,1,1,1,1,1,1,1,1,1,1] # List[str]
|
||||
|
||||
max_acceleration: 15.0
|
||||
max_jerk: 500.0
|
||||
92
src/curobo/content/configs/robot/kinova_gen3.yml
Normal file
92
src/curobo/content/configs/robot/kinova_gen3.yml
Normal file
@@ -0,0 +1,92 @@
|
||||
##
|
||||
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
||||
##
|
||||
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
||||
## property and proprietary rights in and to this material, related
|
||||
## documentation and any modifications thereto. Any use, reproduction,
|
||||
## disclosure or distribution of this material and related documentation
|
||||
## without an express license agreement from NVIDIA CORPORATION or
|
||||
## its affiliates is strictly prohibited.
|
||||
##
|
||||
robot_cfg:
|
||||
kinematics:
|
||||
base_link: base_link
|
||||
collision_link_names:
|
||||
- base_link
|
||||
- shoulder_link
|
||||
- half_arm_1_link
|
||||
- half_arm_2_link
|
||||
- forearm_link
|
||||
- spherical_wrist_1_link
|
||||
- spherical_wrist_2_link
|
||||
- bracelet_link
|
||||
- robotiq_arg2f_base_link
|
||||
- left_outer_finger
|
||||
- left_inner_finger_pad
|
||||
- right_outer_finger
|
||||
- right_inner_finger_pad
|
||||
collision_sphere_buffer: 0.005
|
||||
collision_spheres: spheres/kinova_gen3.yml
|
||||
ee_link: tool_frame
|
||||
self_collision_buffer:
|
||||
base_link: 0.0
|
||||
forearm_link: 0.0
|
||||
half_arm_1_link: 0.0
|
||||
half_arm_2_link: 0.0
|
||||
shoulder_link: 0.0
|
||||
spherical_wrist_1_link : 0.0
|
||||
spherical_wrist_2_link : 0.0
|
||||
bracelet_link: 0.0
|
||||
robotiq_arg2f_base_link: 0.0
|
||||
left_outer_finger: 0.0
|
||||
left_inner_finger_pad: 0.0
|
||||
right_outer_finger: 0.0
|
||||
right_inner_finger_pad: 0.0
|
||||
left_outer_knuckle: 0.0
|
||||
self_collision_ignore: {
|
||||
base_link: [shoulder_link],
|
||||
shoulder_link: [half_arm_1_link],
|
||||
half_arm_1_link: [half_arm_2_link],
|
||||
half_arm_2_link: [forearm_link],
|
||||
forearm_link: [spherical_wrist_1_link],
|
||||
spherical_wrist_1_link: [spherical_wrist_2_link],
|
||||
spherical_wrist_2_link: [bracelet_link],
|
||||
bracelet_link: [robotiq_arg2f_base_link],
|
||||
robotiq_arg2f_base_link: [left_outer_finger, right_outer_finger, left_inner_finger_pad, right_inner_finger_pad],
|
||||
left_outer_finger: [right_outer_finger, right_inner_finger_pad, left_inner_finger_pad],
|
||||
right_outer_finger: [right_inner_finger_pad, left_inner_finger_pad],
|
||||
left_inner_finger_pad: [right_inner_finger_pad],
|
||||
|
||||
}
|
||||
urdf_path: robot/kinova/kinova_gen3_7dof.urdf
|
||||
asset_root_path: robot/kinova
|
||||
|
||||
cspace:
|
||||
joint_names: ['joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6', 'joint_7']
|
||||
cspace_distance_weight:
|
||||
- 1.0
|
||||
- 1.0
|
||||
- 1.0
|
||||
- 1.0
|
||||
- 1.0
|
||||
- 1.0
|
||||
- 1.0
|
||||
|
||||
null_space_weight:
|
||||
- 1.0
|
||||
- 1.0
|
||||
- 1.0
|
||||
- 1.0
|
||||
- 1.0
|
||||
- 1.0
|
||||
- 1.0
|
||||
retract_config:
|
||||
- 0.0
|
||||
- -0.8
|
||||
- 0.0
|
||||
- 1.5
|
||||
- 0.0
|
||||
- 0.4
|
||||
- 0.0
|
||||
max_acceleration: 25.0
|
||||
max_jerk: 500.0
|
||||
85
src/curobo/content/configs/robot/quad_ur10e.yml
Normal file
85
src/curobo/content/configs/robot/quad_ur10e.yml
Normal file
@@ -0,0 +1,85 @@
|
||||
##
|
||||
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
||||
##
|
||||
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
||||
## property and proprietary rights in and to this material, related
|
||||
## documentation and any modifications thereto. Any use, reproduction,
|
||||
## disclosure or distribution of this material and related documentation
|
||||
## without an express license agreement from NVIDIA CORPORATION or
|
||||
## its affiliates is strictly prohibited.
|
||||
##
|
||||
|
||||
robot_cfg:
|
||||
kinematics:
|
||||
use_usd_kinematics: False
|
||||
urdf_path: "robot/ur_description/quad_ur10e.urdf"
|
||||
asset_root_path: "robot/ur_description"
|
||||
isaac_usd_path: "/Isaac/Robots/UR10/ur10_long_suction.usd"
|
||||
usd_robot_root: "/ur10"
|
||||
usd_path: "robot/ur_description/ur10e.usd"
|
||||
base_link: "base_fixture_link"
|
||||
ee_link: "tool0"
|
||||
link_names: ["tool0", "tool1","tool2","tool3"] # , "tool2"] #, "tool3"]
|
||||
collision_link_names: [
|
||||
'shoulder_link','upper_arm_link', 'forearm_link', 'wrist_1_link', 'wrist_2_link' ,'wrist_3_link', 'tool0',
|
||||
'shoulder_link_1','upper_arm_link_1', 'forearm_link_1', 'wrist_1_link_1', 'wrist_2_link_1' ,'wrist_3_link_1', 'tool1',
|
||||
'shoulder_link_2','upper_arm_link_2', 'forearm_link_2', 'wrist_1_link_2', 'wrist_2_link_2' ,'wrist_3_link_2', 'tool2',
|
||||
'shoulder_link_3','upper_arm_link_3', 'forearm_link_3', 'wrist_1_link_3', 'wrist_2_link_3' ,'wrist_3_link_3', 'tool3']
|
||||
collision_spheres: 'spheres/quad_ur10e.yml'
|
||||
collision_sphere_buffer: 0.005
|
||||
|
||||
|
||||
self_collision_ignore: {
|
||||
"upper_arm_link": ["shoulder_link","forearm_link"],
|
||||
"forarm_link": ["wrist_1_link"],
|
||||
"wrist_1_link": ["wrist_2_link","wrist_3_link"],
|
||||
"wrist_2_link": ["wrist_3_link", "tool0"],
|
||||
"wrist_3_link": ["tool0"],
|
||||
|
||||
"upper_arm_link_1": ["shoulder_link_1","forearm_link_1"],
|
||||
"forarm_link_1": ["wrist_1_link_1"],
|
||||
"wrist_1_link_1": ["wrist_2_link_1","wrist_3_link_1"],
|
||||
"wrist_2_link_1": ["wrist_3_link_1", "tool1"],
|
||||
"wrist_3_link_1": ["tool1"],
|
||||
|
||||
"upper_arm_link_2": ["shoulder_link_2","forearm_link_2"],
|
||||
"forarm_link_2": ["wrist_1_link_2"],
|
||||
"wrist_1_link_2": ["wrist_2_link_2","wrist_3_link_2"],
|
||||
"wrist_2_link_2": ["wrist_3_link_2", "tool2"],
|
||||
"wrist_3_link_2": ["tool2"],
|
||||
|
||||
"upper_arm_link_3": ["shoulder_link_3","forearm_link_3"],
|
||||
"forarm_link_3": ["wrist_1_link_3"],
|
||||
"wrist_1_link_3": ["wrist_2_link_3","wrist_3_link_3"],
|
||||
"wrist_2_link_3": ["wrist_3_link_3", "tool3"],
|
||||
"wrist_3_link_3": ["tool3"],
|
||||
|
||||
}
|
||||
self_collision_buffer: {
|
||||
'shoulder_link': 0.05,
|
||||
'shoulder_link_1': 0.05,
|
||||
'shoulder_link_2': 0.05,
|
||||
'shoulder_link_3': 0.05,
|
||||
}
|
||||
lock_joints: null
|
||||
|
||||
cspace:
|
||||
joint_names: [
|
||||
'shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint',
|
||||
'shoulder_pan_joint_1', 'shoulder_lift_joint_1', 'elbow_joint_1', 'wrist_1_joint_1', 'wrist_2_joint_1', 'wrist_3_joint_1',
|
||||
'shoulder_pan_joint_2', 'shoulder_lift_joint_2', 'elbow_joint_2', 'wrist_1_joint_2', 'wrist_2_joint_2', 'wrist_3_joint_2',
|
||||
'shoulder_pan_joint_3', 'shoulder_lift_joint_3', 'elbow_joint_3', 'wrist_1_joint_3', 'wrist_2_joint_3', 'wrist_3_joint_3']
|
||||
retract_config: [-1.57, -2.2, 1.9, -1.383, -1.57, 0.00,
|
||||
-1.57, -2.2, 1.9, -1.383, -1.57, 0.00,
|
||||
-1.57, -2.2, 1.9, -1.383, -1.57, 0.00,
|
||||
-1.57, -2.2, 1.9, -1.383, -1.57, 0.00]
|
||||
null_space_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
|
||||
1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
|
||||
1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
|
||||
1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
|
||||
cspace_distance_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
|
||||
1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
|
||||
1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
|
||||
1.0, 1.0, 1.0, 1.0, 1.0, 1.0] #[2.5, 1.75, 1.5, 1.25, 0.7, 0.4]
|
||||
max_jerk: 500.0
|
||||
max_acceleration: 15.0
|
||||
110
src/curobo/content/configs/robot/spheres/dual_ur10e.yml
Normal file
110
src/curobo/content/configs/robot/spheres/dual_ur10e.yml
Normal file
@@ -0,0 +1,110 @@
|
||||
##
|
||||
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
||||
##
|
||||
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
||||
## property and proprietary rights in and to this material, related
|
||||
## documentation and any modifications thereto. Any use, reproduction,
|
||||
## disclosure or distribution of this material and related documentation
|
||||
## without an express license agreement from NVIDIA CORPORATION or
|
||||
## its affiliates is strictly prohibited.
|
||||
##
|
||||
robot: 'UR10'
|
||||
collision_spheres:
|
||||
shoulder_link:
|
||||
- center: [0, 0, 0]
|
||||
radius: 0.05
|
||||
- center: [0.0, -0.18, 0]
|
||||
radius: 0.05
|
||||
upper_arm_link:
|
||||
- center: [-0.102167, 0, 0.18]
|
||||
radius: 0.05
|
||||
- center: [-0.204333, -8.88178e-19, 0.18]
|
||||
radius: 0.05
|
||||
- center: [-0.3065, -1.33227e-18, 0.18]
|
||||
radius: 0.05
|
||||
- center: [-0.408667, -1.77636e-18, 0.18]
|
||||
radius: 0.05
|
||||
- center: [-0.510833, 0, 0.18]
|
||||
radius: 0.05
|
||||
- center: [ -0.613, 0,0.18]
|
||||
radius: 0.07
|
||||
forearm_link:
|
||||
- center: [-0, 0, 0.03]
|
||||
radius: 0.05
|
||||
- center: [-0.0951667, 0, 0.03]
|
||||
radius: 0.05
|
||||
- center: [-0.190333, 0, 0.03]
|
||||
radius: 0.05
|
||||
- center: [-0.2855, 0, 0.03]
|
||||
radius: 0.05
|
||||
- center: [-0.380667, 0,0.03]
|
||||
radius: 0.05
|
||||
- center: [-0.475833, 0,0.03]
|
||||
radius: 0.05
|
||||
- center: [-0.571, -1.19904e-17, 0.03]
|
||||
radius: 0.05
|
||||
wrist_1_link:
|
||||
- center: [0, 0, 0]
|
||||
radius: 0.05
|
||||
wrist_2_link:
|
||||
- center: [0, 0, 0]
|
||||
radius: 0.05
|
||||
wrist_3_link:
|
||||
- center: [0, 0, 0]
|
||||
radius: 0.05
|
||||
- center: [0, 0, 0.06]
|
||||
radius: 0.08
|
||||
tool0:
|
||||
- center: [0, 0, 0.03]
|
||||
radius: 0.05
|
||||
|
||||
|
||||
shoulder_link_1:
|
||||
- center: [0, 0, 0]
|
||||
radius: 0.05
|
||||
- center: [0.0, -0.18, 0]
|
||||
radius: 0.05
|
||||
upper_arm_link_1:
|
||||
- center: [-0.102167, 0, 0.18]
|
||||
radius: 0.05
|
||||
- center: [-0.204333, -8.88178e-19, 0.18]
|
||||
radius: 0.05
|
||||
- center: [-0.3065, -1.33227e-18, 0.18]
|
||||
radius: 0.05
|
||||
- center: [-0.408667, -1.77636e-18, 0.18]
|
||||
radius: 0.05
|
||||
- center: [-0.510833, 0, 0.18]
|
||||
radius: 0.05
|
||||
- center: [ -0.613, 0,0.18]
|
||||
radius: 0.07
|
||||
forearm_link_1:
|
||||
- center: [-0, 0, 0.03]
|
||||
radius: 0.05
|
||||
- center: [-0.0951667, 0, 0.03]
|
||||
radius: 0.05
|
||||
- center: [-0.190333, 0, 0.03]
|
||||
radius: 0.05
|
||||
- center: [-0.2855, 0, 0.03]
|
||||
radius: 0.05
|
||||
- center: [-0.380667, 0,0.03]
|
||||
radius: 0.05
|
||||
- center: [-0.475833, 0,0.03]
|
||||
radius: 0.05
|
||||
- center: [-0.571, -1.19904e-17, 0.03]
|
||||
radius: 0.05
|
||||
wrist_1_link_1:
|
||||
- center: [0, 0, 0]
|
||||
radius: 0.05
|
||||
wrist_2_link_1:
|
||||
- center: [0, 0, 0]
|
||||
radius: 0.05
|
||||
wrist_3_link_1:
|
||||
- center: [0, 0, 0]
|
||||
radius: 0.05
|
||||
- center: [0, 0, 0.06]
|
||||
radius: 0.08
|
||||
|
||||
tool1:
|
||||
- center: [0, 0, 0.03]
|
||||
radius: 0.05
|
||||
|
||||
156
src/curobo/content/configs/robot/spheres/franka.yml
Normal file
156
src/curobo/content/configs/robot/spheres/franka.yml
Normal file
@@ -0,0 +1,156 @@
|
||||
##
|
||||
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
||||
##
|
||||
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
||||
## property and proprietary rights in and to this material, related
|
||||
## documentation and any modifications thereto. Any use, reproduction,
|
||||
## disclosure or distribution of this material and related documentation
|
||||
## without an express license agreement from NVIDIA CORPORATION or
|
||||
## its affiliates is strictly prohibited.
|
||||
##
|
||||
robot: 'Franka Panda'
|
||||
urdf_path: "urdf/franka_description/franka_panda_dyn.urdf"
|
||||
collision_spheres:
|
||||
panda_link0:
|
||||
- "center": [-0.08, 0.0, 0.05]
|
||||
"radius": 0.06
|
||||
- "center": [-0.0, 0.0, 0.05]
|
||||
"radius": 0.08
|
||||
panda_link1:
|
||||
- "center": [0.0, -0.08, 0.0]
|
||||
"radius": 0.06
|
||||
- "center": [0.0, -0.03, 0.0]
|
||||
"radius": 0.06
|
||||
- "center": [0.0, 0.0, -0.12]
|
||||
"radius": 0.06
|
||||
- "center": [0.0, 0.0, -0.17]
|
||||
"radius": 0.06
|
||||
panda_link2:
|
||||
- "center": [0.0, 0.0, 0.03]
|
||||
"radius": 0.06
|
||||
- "center": [0.0, 0.0, 0.08]
|
||||
"radius": 0.06
|
||||
- "center": [0.0, -0.12, 0.0]
|
||||
"radius": 0.06
|
||||
- "center": [0.0, -0.17, 0.0]
|
||||
"radius": 0.06
|
||||
panda_link3:
|
||||
- "center": [0.0, 0.0, -0.06]
|
||||
"radius": 0.05
|
||||
- "center": [0.0, 0.0, -0.1]
|
||||
"radius": 0.06
|
||||
- "center": [0.08, 0.06, 0.0]
|
||||
"radius": 0.055
|
||||
- "center": [0.08, 0.02, 0.0]
|
||||
"radius": 0.055
|
||||
panda_link4:
|
||||
- "center": [0.0, 0.0, 0.02]
|
||||
"radius": 0.055
|
||||
- "center": [0.0, 0.0, 0.06]
|
||||
"radius": 0.055
|
||||
- "center": [-0.08, 0.095, 0.0]
|
||||
"radius": 0.06
|
||||
- "center": [-0.08, 0.06, 0.0]
|
||||
"radius": 0.055
|
||||
panda_link5:
|
||||
- "center": [0.0, 0.055, 0.0]
|
||||
"radius": 0.05
|
||||
- "center": [0.0, 0.085, 0.0]
|
||||
"radius": 0.055
|
||||
- "center": [0.0, 0.000, -0.22]
|
||||
"radius": 0.05
|
||||
- "center": [0.0, 0.05, -0.18]
|
||||
"radius": 0.045
|
||||
- "center": [0.015, 0.08, -0.14]
|
||||
"radius": 0.03
|
||||
- "center": [0.015, 0.085, -0.11]
|
||||
"radius": 0.03
|
||||
- "center": [0.015, 0.09, -0.08]
|
||||
"radius": 0.03
|
||||
- "center": [0.015, 0.095, -0.05]
|
||||
"radius": 0.03
|
||||
- "center": [-0.015, 0.08, -0.14]
|
||||
"radius": 0.03
|
||||
- "center": [-0.015, 0.085, -0.11]
|
||||
"radius": 0.03
|
||||
- "center": [-0.015, 0.09, -0.08]
|
||||
"radius": 0.03
|
||||
- "center": [-0.015, 0.095, -0.05]
|
||||
"radius": 0.03
|
||||
panda_link6:
|
||||
- "center": [0.0, 0.0, 0.0]
|
||||
"radius": 0.05
|
||||
- "center": [0.08, 0.035, 0.0]
|
||||
"radius": 0.05
|
||||
- "center": [0.08, -0.01, 0.0]
|
||||
"radius": 0.05
|
||||
panda_link7:
|
||||
- "center": [0.0, 0.0, 0.07]
|
||||
"radius": 0.05
|
||||
- "center": [0.02, 0.04, 0.08]
|
||||
"radius": 0.025
|
||||
- "center": [0.04, 0.02, 0.08]
|
||||
"radius": 0.025
|
||||
- "center": [0.04, 0.06, 0.085]
|
||||
"radius": 0.02
|
||||
- "center": [0.06, 0.04, 0.085]
|
||||
"radius": 0.02
|
||||
panda_hand:
|
||||
- "center": [0.0, -0.075, 0.01]
|
||||
"radius": 0.03
|
||||
- "center": [0.0, -0.045, 0.01]
|
||||
"radius": 0.03
|
||||
- "center": [0.0, -0.015, 0.01]
|
||||
"radius": 0.03
|
||||
- "center": [0.0, 0.015, 0.01]
|
||||
"radius": 0.03
|
||||
- "center": [0.0, 0.045, 0.01]
|
||||
"radius": 0.03
|
||||
- "center": [0.0, 0.075, 0.01]
|
||||
"radius": 0.03
|
||||
- "center": [0.0, 0.065, -0.02]
|
||||
"radius": 0.03
|
||||
- "center": [0.0, -0.075, 0.03]
|
||||
"radius": 0.03
|
||||
- "center": [0.0, -0.045, 0.03]
|
||||
"radius": 0.03
|
||||
- "center": [0.0, -0.015, 0.03]
|
||||
"radius": 0.03
|
||||
- "center": [0.0, 0.015, 0.03]
|
||||
"radius": 0.03
|
||||
- "center": [0.0, 0.045, 0.03]
|
||||
"radius": 0.03
|
||||
- "center": [0.0, 0.075, 0.03]
|
||||
"radius": 0.03
|
||||
- "center": [0.0, -0.075, 0.05]
|
||||
"radius": 0.02
|
||||
- "center": [0.0, -0.045, 0.05]
|
||||
"radius": 0.02
|
||||
- "center": [0.0, -0.015, 0.05]
|
||||
"radius": 0.02
|
||||
- "center": [0.0, 0.015, 0.05]
|
||||
"radius": 0.02
|
||||
- "center": [0.0, 0.045, 0.05]
|
||||
"radius": 0.02
|
||||
- "center": [0.0, 0.075, 0.05]
|
||||
"radius": 0.02
|
||||
panda_leftfinger:
|
||||
- "center": [0.0, 0.01, 0.04]
|
||||
"radius": 0.01
|
||||
- "center": [0.0, 0.01, 0.014]
|
||||
"radius": 0.01
|
||||
panda_rightfinger:
|
||||
- "center": [0.0, -0.01, 0.04]
|
||||
"radius": 0.01
|
||||
- "center": [0.0, -0.01, 0.014]
|
||||
"radius": 0.01
|
||||
attached_object:
|
||||
- "center": [0.0, 0.0, 0.0]
|
||||
"radius": -10.0
|
||||
- "center": [0.0, 0.0, 0.0]
|
||||
"radius": -10.0
|
||||
- "center": [0.0, 0.0, 0.0]
|
||||
"radius": -10.0
|
||||
- "center": [0.0, 0.0, 0.0]
|
||||
"radius": -10.0
|
||||
|
||||
@@ -0,0 +1,142 @@
|
||||
##
|
||||
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
||||
##
|
||||
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
||||
## property and proprietary rights in and to this material, related
|
||||
## documentation and any modifications thereto. Any use, reproduction,
|
||||
## disclosure or distribution of this material and related documentation
|
||||
## without an express license agreement from NVIDIA CORPORATION or
|
||||
## its affiliates is strictly prohibited.
|
||||
##
|
||||
collision_spheres:
|
||||
panda_link0:
|
||||
- "center": [0.0, 0.0, 0.085]
|
||||
"radius": 0.03 #0.07
|
||||
- "center": [-0.1, -0.0, 0.085]
|
||||
"radius": 0.03 #0.07
|
||||
panda_link1:
|
||||
- "center": [0.0, -0.08, 0.0]
|
||||
"radius": 0.06
|
||||
- "center": [0.0, -0.03, 0.0]
|
||||
"radius": 0.06
|
||||
- "center": [0.0, 0.0, -0.12]
|
||||
"radius": 0.06
|
||||
- "center": [0.0, 0.0, -0.17]
|
||||
"radius": 0.06
|
||||
panda_link2:
|
||||
- "center": [0.0, 0.0, 0.03]
|
||||
"radius": 0.06
|
||||
- "center": [0.0, 0.0, 0.08]
|
||||
"radius": 0.06
|
||||
- "center": [0.0, -0.12, 0.0]
|
||||
"radius": 0.06
|
||||
- "center": [0.0, -0.17, 0.0]
|
||||
"radius": 0.06
|
||||
panda_link3:
|
||||
- "center": [0.0, 0.0, -0.06]
|
||||
"radius": 0.05
|
||||
- "center": [0.0, 0.0, -0.1]
|
||||
"radius": 0.06
|
||||
- "center": [0.08, 0.06, 0.0]
|
||||
"radius": 0.055
|
||||
- "center": [0.08, 0.02, 0.0]
|
||||
"radius": 0.055
|
||||
panda_link4:
|
||||
- "center": [0.0, 0.0, 0.02]
|
||||
"radius": 0.06
|
||||
- "center": [0.0, 0.0, 0.06]
|
||||
"radius": 0.06
|
||||
- "center": [-0.08, 0.095, 0.0]
|
||||
"radius": 0.06
|
||||
- "center": [-0.08, 0.06, 0.0]
|
||||
"radius": 0.06
|
||||
panda_link5:
|
||||
- "center": [0.0, 0.03, 0.0]
|
||||
"radius": 0.06
|
||||
- "center": [0.0, 0.08, 0.0]
|
||||
"radius": 0.06
|
||||
- "center": [0.0, 0.000, -0.22]
|
||||
"radius": 0.06
|
||||
- "center": [0.0, 0.05, -0.18]
|
||||
"radius": 0.06
|
||||
- "center": [0.01, 0.08, -0.14]
|
||||
"radius": 0.06
|
||||
- "center": [0.01, 0.085, -0.11]
|
||||
"radius": 0.025
|
||||
- "center": [0.01, 0.09, -0.08]
|
||||
"radius": 0.025
|
||||
- "center": [0.01, 0.095, -0.05]
|
||||
"radius": 0.025
|
||||
- "center": [-0.01, 0.08, -0.14]
|
||||
"radius": 0.025
|
||||
- "center": [-0.01, 0.085, -0.11]
|
||||
"radius": 0.025
|
||||
- "center": [-0.01, 0.09, -0.08]
|
||||
"radius": 0.025
|
||||
- "center": [-0.01, 0.095, -0.05]
|
||||
"radius": 0.025
|
||||
panda_link6:
|
||||
- "center": [0.0, 0.0, 0.012]
|
||||
"radius": 0.052
|
||||
- "center": [0.08, 0.03, 0.0]
|
||||
"radius": 0.05
|
||||
- "center": [0.08, -0.01, 0.0]
|
||||
"radius": 0.05
|
||||
panda_link7:
|
||||
- "center": [0.0, 0.0, 0.07]
|
||||
"radius": 0.045
|
||||
- "center": [0.02, 0.04, 0.08]
|
||||
"radius": 0.025
|
||||
- "center": [0.04, 0.02, 0.08]
|
||||
"radius": 0.025
|
||||
- "center": [0.04, 0.06, 0.085]
|
||||
"radius": 0.02
|
||||
- "center": [0.06, 0.04, 0.085]
|
||||
"radius": 0.02
|
||||
panda_hand:
|
||||
- "center": [0.0, -0.075, 0.01]
|
||||
"radius": 0.024
|
||||
- "center": [0.0, -0.045, 0.01]
|
||||
"radius": 0.024
|
||||
- "center": [0.0, -0.015, 0.01]
|
||||
"radius": 0.024
|
||||
- "center": [0.0, 0.015, 0.01]
|
||||
"radius": 0.024
|
||||
- "center": [0.0, 0.045, 0.01]
|
||||
"radius": 0.024
|
||||
- "center": [0.0, 0.075, 0.01]
|
||||
"radius": 0.024
|
||||
- "center": [0.0, -0.08, 0.03]
|
||||
"radius": 0.022
|
||||
- "center": [0.0, -0.045, 0.03]
|
||||
"radius": 0.022
|
||||
- "center": [0.0, -0.015, 0.03]
|
||||
"radius": 0.022
|
||||
- "center": [0.0, 0.015, 0.03]
|
||||
"radius": 0.022
|
||||
- "center": [0.0, 0.045, 0.03]
|
||||
"radius": 0.022
|
||||
- "center": [0.0, 0.08, 0.03]
|
||||
"radius": 0.022
|
||||
- "center": [0.0, -0.08, 0.045]
|
||||
"radius": 0.022
|
||||
- "center": [0.0, -0.045, 0.045]
|
||||
"radius": 0.022
|
||||
- "center": [0.0, -0.015, 0.045]
|
||||
"radius": 0.022
|
||||
- "center": [0.0, 0.015, 0.045]
|
||||
"radius": 0.022
|
||||
- "center": [0.0, 0.045, 0.045]
|
||||
"radius": 0.022
|
||||
- "center": [0.0, 0.08, 0.045]
|
||||
"radius": 0.022
|
||||
panda_leftfinger:
|
||||
- "center": [0.0, 0.01, 0.043]
|
||||
"radius": 0.0125 # 0.01
|
||||
- "center": [0.0, 0.02, 0.015]
|
||||
"radius": 0.0125
|
||||
panda_rightfinger:
|
||||
- "center": [0.0, -0.01, 0.043]
|
||||
"radius": 0.0125 # 0.01
|
||||
- "center": [0.0, -0.02, 0.015]
|
||||
"radius": 0.0125
|
||||
144
src/curobo/content/configs/robot/spheres/franka_mesh.yml
Normal file
144
src/curobo/content/configs/robot/spheres/franka_mesh.yml
Normal file
@@ -0,0 +1,144 @@
|
||||
##
|
||||
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
||||
##
|
||||
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
||||
## property and proprietary rights in and to this material, related
|
||||
## documentation and any modifications thereto. Any use, reproduction,
|
||||
## disclosure or distribution of this material and related documentation
|
||||
## without an express license agreement from NVIDIA CORPORATION or
|
||||
## its affiliates is strictly prohibited.
|
||||
##
|
||||
collision_spheres:
|
||||
panda_link0:
|
||||
- "center": [0.0, 0.0, 0.085]
|
||||
"radius": 0.03 #0.07
|
||||
- "center": [-0.1, -0.0, 0.085]
|
||||
"radius": 0.03 #0.07
|
||||
panda_link1:
|
||||
- "center": [0.0, -0.08, 0.0]
|
||||
"radius": 0.055
|
||||
- "center": [0.0, -0.03, 0.0]
|
||||
"radius": 0.06
|
||||
- "center": [0.0, 0.0, -0.12]
|
||||
"radius": 0.06
|
||||
- "center": [0.0, 0.0, -0.17]
|
||||
"radius": 0.06
|
||||
panda_link2:
|
||||
- "center": [0.0, 0.0, 0.03]
|
||||
"radius": 0.055
|
||||
- "center": [0.0, 0.0, 0.08]
|
||||
"radius": 0.055
|
||||
- "center": [0.0, -0.12, 0.0]
|
||||
"radius": 0.055
|
||||
- "center": [0.0, -0.17, 0.0]
|
||||
"radius": 0.055
|
||||
panda_link3:
|
||||
- "center": [0.0, 0.0, -0.06]
|
||||
"radius": 0.05
|
||||
- "center": [0.0, 0.0, -0.1]
|
||||
"radius": 0.06
|
||||
- "center": [0.08, 0.06, 0.0]
|
||||
"radius": 0.052
|
||||
- "center": [0.08, 0.02, 0.0]
|
||||
"radius": 0.052
|
||||
panda_link4:
|
||||
- "center": [0.0, 0.0, 0.02]
|
||||
"radius": 0.052
|
||||
- "center": [0.0, 0.0, 0.06]
|
||||
"radius": 0.052
|
||||
- "center": [-0.08, 0.095, 0.0]
|
||||
"radius": 0.055
|
||||
- "center": [-0.08, 0.06, 0.0]
|
||||
"radius": 0.052
|
||||
panda_link5:
|
||||
- "center": [0.0, 0.03, 0.0]
|
||||
"radius": 0.05
|
||||
- "center": [0.0, 0.082, 0.0]
|
||||
"radius": 0.05
|
||||
- "center": [0.0, 0.000, -0.22]
|
||||
"radius": 0.05
|
||||
- "center": [0.0, 0.052, -0.18]
|
||||
"radius": 0.04
|
||||
- "center": [0.01, 0.08, -0.14]
|
||||
"radius": 0.022
|
||||
- "center": [0.01, 0.085, -0.11]
|
||||
"radius": 0.022
|
||||
- "center": [0.01, 0.09, -0.08]
|
||||
"radius": 0.022
|
||||
- "center": [0.01, 0.095, -0.05]
|
||||
"radius": 0.022
|
||||
- "center": [-0.01, 0.08, -0.14]
|
||||
"radius": 0.022
|
||||
- "center": [-0.01, 0.085, -0.11]
|
||||
"radius": 0.022
|
||||
- "center": [-0.01, 0.09, -0.08]
|
||||
"radius": 0.022
|
||||
- "center": [-0.01, 0.095, -0.05]
|
||||
"radius": 0.022
|
||||
- "center": [0.0, -0.009, 0.0]
|
||||
"radius": 0.05
|
||||
panda_link6:
|
||||
- "center": [0.085, 0.035, 0.0]
|
||||
"radius": 0.045
|
||||
- "center": [0.085, 0.0, 0.0]
|
||||
"radius": 0.045
|
||||
- "center": [0.085, -0.015, 0.0]
|
||||
"radius": 0.045
|
||||
panda_link7:
|
||||
- "center": [0.0, 0.0, 0.07]
|
||||
"radius": 0.045
|
||||
- "center": [0.02, 0.04, 0.08]
|
||||
"radius": 0.024
|
||||
- "center": [0.04, 0.02, 0.08]
|
||||
"radius": 0.024
|
||||
- "center": [0.04, 0.06, 0.085]
|
||||
"radius": 0.02
|
||||
- "center": [0.06, 0.04, 0.085]
|
||||
"radius": 0.02
|
||||
panda_hand:
|
||||
- "center": [0.0, -0.075, 0.01]
|
||||
"radius": 0.023
|
||||
- "center": [0.0, -0.045, 0.01]
|
||||
"radius": 0.023
|
||||
- "center": [0.0, -0.015, 0.01]
|
||||
"radius": 0.023
|
||||
- "center": [0.0, 0.015, 0.01]
|
||||
"radius": 0.023
|
||||
- "center": [0.0, 0.045, 0.01]
|
||||
"radius": 0.023
|
||||
- "center": [0.0, 0.075, 0.01]
|
||||
"radius": 0.023
|
||||
- "center": [0.0, -0.08, 0.03]
|
||||
"radius": 0.022
|
||||
- "center": [0.0, -0.045, 0.03]
|
||||
"radius": 0.022
|
||||
- "center": [0.0, -0.015, 0.03]
|
||||
"radius": 0.022
|
||||
- "center": [0.0, 0.015, 0.03]
|
||||
"radius": 0.022
|
||||
- "center": [0.0, 0.045, 0.03]
|
||||
"radius": 0.022
|
||||
- "center": [0.0, 0.08, 0.03]
|
||||
"radius": 0.022
|
||||
- "center": [0.0, -0.08, 0.045]
|
||||
"radius": 0.022
|
||||
- "center": [0.0, -0.045, 0.045]
|
||||
"radius": 0.022
|
||||
- "center": [0.0, -0.015, 0.045]
|
||||
"radius": 0.022
|
||||
- "center": [0.0, 0.015, 0.045]
|
||||
"radius": 0.022
|
||||
- "center": [0.0, 0.045, 0.045]
|
||||
"radius": 0.022
|
||||
- "center": [0.0, 0.08, 0.045]
|
||||
"radius": 0.022
|
||||
panda_leftfinger:
|
||||
- "center": [0.0, 0.01, 0.043]
|
||||
"radius": 0.011 # 25
|
||||
- "center": [0.0, 0.02, 0.015]
|
||||
"radius": 0.011 # 25
|
||||
panda_rightfinger:
|
||||
- "center": [0.0, -0.01, 0.043]
|
||||
"radius": 0.011 #25
|
||||
- "center": [0.0, -0.02, 0.015]
|
||||
"radius": 0.011 #25
|
||||
146
src/curobo/content/configs/robot/spheres/franka_mesh_inside.yml
Normal file
146
src/curobo/content/configs/robot/spheres/franka_mesh_inside.yml
Normal file
@@ -0,0 +1,146 @@
|
||||
##
|
||||
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
||||
##
|
||||
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
||||
## property and proprietary rights in and to this material, related
|
||||
## documentation and any modifications thereto. Any use, reproduction,
|
||||
## disclosure or distribution of this material and related documentation
|
||||
## without an express license agreement from NVIDIA CORPORATION or
|
||||
## its affiliates is strictly prohibited.
|
||||
##
|
||||
collision_spheres:
|
||||
panda_link0:
|
||||
- "center": [0.0, 0.0, 0.1]
|
||||
"radius": 0.02
|
||||
panda_link1:
|
||||
- "center": [0.0, -0.08, 0.0]
|
||||
"radius": 0.06
|
||||
- "center": [0.0, -0.03, 0.0]
|
||||
"radius": 0.06
|
||||
- "center": [0.0, 0.0, -0.12]
|
||||
"radius": 0.06
|
||||
- "center": [0.0, 0.0, -0.17]
|
||||
"radius": 0.06
|
||||
panda_link2:
|
||||
- "center": [0.0, 0.0, 0.03]
|
||||
"radius": 0.06
|
||||
- "center": [0.0, 0.0, 0.08]
|
||||
"radius": 0.06
|
||||
- "center": [0.0, -0.12, 0.0]
|
||||
"radius": 0.06
|
||||
- "center": [0.0, -0.17, 0.0]
|
||||
"radius": 0.06
|
||||
panda_link3:
|
||||
- "center": [0.0, 0.0, -0.06]
|
||||
"radius": 0.05
|
||||
- "center": [0.0, 0.0, -0.1]
|
||||
"radius": 0.06
|
||||
- "center": [0.08, 0.06, 0.0]
|
||||
"radius": 0.055
|
||||
- "center": [0.08, 0.02, 0.0]
|
||||
"radius": 0.055
|
||||
panda_link4:
|
||||
- "center": [0.0, 0.0, 0.02]
|
||||
"radius": 0.055
|
||||
- "center": [0.0, 0.0, 0.06]
|
||||
"radius": 0.055
|
||||
- "center": [-0.08, 0.095, 0.0]
|
||||
"radius": 0.06
|
||||
- "center": [-0.08, 0.06, 0.0]
|
||||
"radius": 0.055
|
||||
panda_link5:
|
||||
- "center": [0.0, 0.055, 0.0]
|
||||
"radius": 0.06
|
||||
- "center": [0.0, 0.075, 0.0]
|
||||
"radius": 0.06
|
||||
- "center": [0.0, 0.000, -0.22]
|
||||
"radius": 0.06
|
||||
- "center": [0.0, 0.05, -0.18]
|
||||
"radius": 0.05
|
||||
- "center": [0.01, 0.08, -0.14]
|
||||
"radius": 0.025
|
||||
- "center": [0.01, 0.085, -0.11]
|
||||
"radius": 0.025
|
||||
- "center": [0.01, 0.09, -0.08]
|
||||
"radius": 0.025
|
||||
- "center": [0.01, 0.095, -0.05]
|
||||
"radius": 0.025
|
||||
- "center": [-0.01, 0.08, -0.14]
|
||||
"radius": 0.025
|
||||
- "center": [-0.01, 0.085, -0.11]
|
||||
"radius": 0.025
|
||||
- "center": [-0.01, 0.09, -0.08]
|
||||
"radius": 0.025
|
||||
- "center": [-0.01, 0.095, -0.05]
|
||||
"radius": 0.025
|
||||
panda_link6:
|
||||
- "center": [0.0, 0.0, 0.0]
|
||||
"radius": 0.06
|
||||
- "center": [0.08, 0.03, 0.0]
|
||||
"radius": 0.06
|
||||
- "center": [0.08, -0.01, 0.0]
|
||||
"radius": 0.06
|
||||
panda_link7:
|
||||
- "center": [0.0, 0.0, 0.07]
|
||||
"radius": 0.05
|
||||
- "center": [0.02, 0.04, 0.08]
|
||||
"radius": 0.025
|
||||
- "center": [0.04, 0.02, 0.08]
|
||||
"radius": 0.025
|
||||
- "center": [0.04, 0.06, 0.085]
|
||||
"radius": 0.02
|
||||
- "center": [0.06, 0.04, 0.085]
|
||||
"radius": 0.02
|
||||
panda_hand:
|
||||
- "center": [0.0, -0.075, 0.01]
|
||||
"radius": 0.028
|
||||
- "center": [0.0, -0.045, 0.01]
|
||||
"radius": 0.028
|
||||
- "center": [0.0, -0.015, 0.01]
|
||||
"radius": 0.028
|
||||
- "center": [0.0, 0.015, 0.01]
|
||||
"radius": 0.028
|
||||
- "center": [0.0, 0.045, 0.01]
|
||||
"radius": 0.028
|
||||
- "center": [0.0, 0.075, 0.01]
|
||||
"radius": 0.028
|
||||
- "center": [0.0, -0.075, 0.03]
|
||||
"radius": 0.026
|
||||
- "center": [0.0, -0.045, 0.03]
|
||||
"radius": 0.026
|
||||
- "center": [0.0, -0.015, 0.03]
|
||||
"radius": 0.026
|
||||
- "center": [0.0, 0.015, 0.03]
|
||||
"radius": 0.026
|
||||
- "center": [0.0, 0.045, 0.03]
|
||||
"radius": 0.026
|
||||
- "center": [0.0, 0.075, 0.03]
|
||||
"radius": 0.026
|
||||
- "center": [0.0, -0.075, 0.05]
|
||||
"radius": 0.024
|
||||
- "center": [0.0, -0.045, 0.05]
|
||||
"radius": 0.024
|
||||
- "center": [0.0, -0.015, 0.05]
|
||||
"radius": 0.024
|
||||
- "center": [0.0, 0.015, 0.05]
|
||||
"radius": 0.024
|
||||
- "center": [0.0, 0.045, 0.05]
|
||||
"radius": 0.024
|
||||
- "center": [0.0, 0.075, 0.05]
|
||||
"radius": 0.024
|
||||
#panda_leftfinger:
|
||||
# - "center": [0.0, 0.01, 0.043]
|
||||
# "radius": 0.01
|
||||
# - "center": [0.0, 0.02, 0.015]
|
||||
# "radius": 0.01
|
||||
#panda_rightfinger:
|
||||
# - "center": [0.0, -0.01, 0.043]
|
||||
# "radius": 0.01
|
||||
# - "center": [0.0, -0.02, 0.015]
|
||||
# "radius": 0.01
|
||||
panda_leftfinger:
|
||||
- "center": [0.0, 0.0075, 0.0]
|
||||
"radius": 0.0108
|
||||
panda_rightfinger:
|
||||
- "center": [0.0, -0.0075, 0.0]
|
||||
"radius": 0.0108
|
||||
159
src/curobo/content/configs/robot/spheres/franka_mesh_mb.yml
Normal file
159
src/curobo/content/configs/robot/spheres/franka_mesh_mb.yml
Normal file
@@ -0,0 +1,159 @@
|
||||
##
|
||||
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
||||
##
|
||||
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
||||
## property and proprietary rights in and to this material, related
|
||||
## documentation and any modifications thereto. Any use, reproduction,
|
||||
## disclosure or distribution of this material and related documentation
|
||||
## without an express license agreement from NVIDIA CORPORATION or
|
||||
## its affiliates is strictly prohibited.
|
||||
##
|
||||
collision_spheres:
|
||||
panda_link0:
|
||||
- "center": [0.0, 0.0, 0.1]
|
||||
"radius": 0.03
|
||||
- "center": [-0.1, -0.0, 0.1]
|
||||
"radius": 0.03
|
||||
panda_link1:
|
||||
- "center": [0.0, -0.08, 0.0]
|
||||
"radius": 0.06
|
||||
- "center": [0.0, -0.03, 0.0]
|
||||
"radius": 0.06
|
||||
- "center": [0.0, 0.0, -0.12]
|
||||
"radius": 0.06
|
||||
- "center": [0.0, 0.0, -0.17]
|
||||
"radius": 0.06
|
||||
panda_link2:
|
||||
- "center": [0.0, 0.0, 0.03]
|
||||
"radius": 0.06
|
||||
- "center": [0.0, 0.0, 0.08]
|
||||
"radius": 0.06
|
||||
- "center": [0.0, -0.12, 0.0]
|
||||
"radius": 0.06
|
||||
- "center": [0.0, -0.17, 0.0]
|
||||
"radius": 0.06
|
||||
panda_link3:
|
||||
- "center": [0.0, 0.0, -0.06]
|
||||
"radius": 0.05
|
||||
- "center": [0.0, 0.0, -0.1]
|
||||
"radius": 0.06
|
||||
- "center": [0.08, 0.06, 0.0]
|
||||
"radius": 0.055
|
||||
- "center": [0.08, 0.02, 0.0]
|
||||
"radius": 0.055
|
||||
panda_link4:
|
||||
- "center": [0.0, 0.0, 0.02]
|
||||
"radius": 0.055
|
||||
- "center": [0.0, 0.0, 0.06]
|
||||
"radius": 0.055
|
||||
- "center": [-0.08, 0.095, 0.0]
|
||||
"radius": 0.06
|
||||
- "center": [-0.08, 0.06, 0.0]
|
||||
"radius": 0.055
|
||||
panda_link5:
|
||||
- "center": [0.0, 0.03, 0.0]
|
||||
"radius": 0.05
|
||||
- "center": [0.0, 0.08, 0.0]
|
||||
"radius": 0.05
|
||||
- "center": [0.0, 0.000, -0.22]
|
||||
"radius": 0.05
|
||||
- "center": [0.0, 0.05, -0.18]
|
||||
"radius": 0.045
|
||||
- "center": [0.01, 0.08, -0.14]
|
||||
"radius": 0.025
|
||||
- "center": [0.01, 0.085, -0.11]
|
||||
"radius": 0.025
|
||||
- "center": [0.01, 0.09, -0.08]
|
||||
"radius": 0.025
|
||||
- "center": [0.01, 0.095, -0.05]
|
||||
"radius": 0.025
|
||||
- "center": [-0.01, 0.08, -0.14]
|
||||
"radius": 0.025
|
||||
- "center": [-0.01, 0.085, -0.11]
|
||||
"radius": 0.025
|
||||
- "center": [-0.01, 0.09, -0.08]
|
||||
"radius": 0.025
|
||||
- "center": [-0.01, 0.095, -0.05]
|
||||
"radius": 0.025
|
||||
panda_link6:
|
||||
- "center": [0.0, 0.0, 0.012]
|
||||
"radius": 0.052
|
||||
- "center": [0.08, 0.03, 0.0]
|
||||
"radius": 0.05
|
||||
- "center": [0.08, -0.01, 0.0]
|
||||
"radius": 0.05
|
||||
panda_link7:
|
||||
- "center": [0.0, 0.0, 0.07]
|
||||
"radius": 0.045
|
||||
- "center": [0.02, 0.04, 0.08]
|
||||
"radius": 0.025
|
||||
- "center": [0.04, 0.02, 0.08]
|
||||
"radius": 0.025
|
||||
- "center": [0.04, 0.06, 0.085]
|
||||
"radius": 0.02
|
||||
- "center": [0.06, 0.04, 0.085]
|
||||
"radius": 0.02
|
||||
panda_hand:
|
||||
- "center": [0.0, -0.075, 0.01]
|
||||
"radius": 0.024
|
||||
- "center": [0.0, -0.045, 0.01]
|
||||
"radius": 0.024
|
||||
- "center": [0.0, -0.015, 0.01]
|
||||
"radius": 0.024
|
||||
- "center": [0.0, 0.015, 0.01]
|
||||
"radius": 0.024
|
||||
- "center": [0.0, 0.045, 0.01]
|
||||
"radius": 0.024
|
||||
- "center": [0.0, 0.073, 0.01]
|
||||
"radius": 0.02
|
||||
- "center": [0.0, -0.08, 0.03]
|
||||
"radius": 0.022
|
||||
- "center": [0.0, -0.045, 0.03]
|
||||
"radius": 0.022
|
||||
- "center": [0.0, -0.015, 0.03]
|
||||
"radius": 0.022
|
||||
- "center": [0.0, 0.015, 0.03]
|
||||
"radius": 0.022
|
||||
- "center": [0.0, 0.045, 0.03]
|
||||
"radius": 0.022
|
||||
- "center": [0.0, 0.075, 0.03]
|
||||
"radius": 0.02
|
||||
- "center": [0.0, -0.08, 0.045]
|
||||
"radius": 0.02
|
||||
- "center": [0.0, -0.045, 0.045]
|
||||
"radius": 0.02
|
||||
- "center": [0.0, -0.015, 0.045]
|
||||
"radius": 0.02
|
||||
- "center": [0.0, 0.015, 0.045]
|
||||
"radius": 0.02
|
||||
- "center": [0.0, 0.045, 0.045]
|
||||
"radius": 0.02
|
||||
- "center": [0.0, 0.078, 0.045]
|
||||
"radius": 0.02
|
||||
#- "center": [0.0, -0.02, 0.1]
|
||||
# "radius": 0.015
|
||||
#- "center": [0.0, 0.02, 0.1]
|
||||
# "radius": 0.015
|
||||
#- "center": [0.0, 0.0, 0.1]
|
||||
# "radius": 0.015
|
||||
panda_leftfinger:
|
||||
- "center": [0.0, 0.01, 0.043]
|
||||
"radius": 0.01 # 0.01
|
||||
- "center": [0.0, 0.02, 0.015]
|
||||
"radius": 0.005
|
||||
panda_rightfinger:
|
||||
|
||||
- "center": [0.0, -0.01, 0.043]
|
||||
"radius": 0.01 # 0.01
|
||||
- "center": [0.0, -0.02, 0.015]
|
||||
"radius": 0.005
|
||||
attached_object:
|
||||
- "center": [0.0, 0.0, 0.0]
|
||||
"radius": -10.0
|
||||
- "center": [0.0, 0.0, 0.0]
|
||||
"radius": -10.0
|
||||
- "center": [0.0, 0.0, 0.0]
|
||||
"radius": -10.0
|
||||
- "center": [0.0, 0.0, 0.0]
|
||||
"radius": -10.0
|
||||
|
||||
141
src/curobo/content/configs/robot/spheres/franka_real_robot.yml
Normal file
141
src/curobo/content/configs/robot/spheres/franka_real_robot.yml
Normal file
@@ -0,0 +1,141 @@
|
||||
##
|
||||
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
||||
##
|
||||
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
||||
## property and proprietary rights in and to this material, related
|
||||
## documentation and any modifications thereto. Any use, reproduction,
|
||||
## disclosure or distribution of this material and related documentation
|
||||
## without an express license agreement from NVIDIA CORPORATION or
|
||||
## its affiliates is strictly prohibited.
|
||||
##
|
||||
robot: 'Franka Panda'
|
||||
urdf_path: "urdf/franka_description/franka_panda_dyn.urdf"
|
||||
collision_spheres:
|
||||
panda_link0:
|
||||
- "center": [-0.08, 0.0, 0.05]
|
||||
"radius": 0.06
|
||||
- "center": [-0.0, 0.0, 0.05]
|
||||
"radius": 0.08
|
||||
panda_link1:
|
||||
- "center": [0.0, -0.08, 0.0]
|
||||
"radius": 0.1
|
||||
- "center": [0.0, -0.03, 0.0]
|
||||
"radius": 0.1
|
||||
- "center": [0.0, 0.0, -0.12]
|
||||
"radius": 0.06
|
||||
- "center": [0.0, 0.0, -0.17]
|
||||
"radius": 0.06
|
||||
panda_link2:
|
||||
- "center": [0.0, 0.0, 0.03]
|
||||
"radius": 0.1
|
||||
- "center": [0.0, 0.0, 0.08]
|
||||
"radius": 0.1
|
||||
- "center": [0.0, -0.12, 0.0]
|
||||
"radius": 0.06
|
||||
- "center": [0.0, -0.17, 0.0]
|
||||
"radius": 0.06
|
||||
panda_link3:
|
||||
- "center": [0.0, 0.0, -0.06]
|
||||
"radius": 0.05
|
||||
- "center": [0.0, 0.0, -0.1]
|
||||
"radius": 0.06
|
||||
- "center": [0.08, 0.06, 0.0]
|
||||
"radius": 0.055
|
||||
- "center": [0.08, 0.02, 0.0]
|
||||
"radius": 0.055
|
||||
panda_link4:
|
||||
- "center": [0.0, 0.0, 0.02]
|
||||
"radius": 0.055
|
||||
- "center": [0.0, 0.0, 0.06]
|
||||
"radius": 0.055
|
||||
- "center": [-0.08, 0.095, 0.0]
|
||||
"radius": 0.06
|
||||
- "center": [-0.08, 0.06, 0.0]
|
||||
"radius": 0.055
|
||||
panda_link5:
|
||||
- "center": [0.0, 0.055, 0.0]
|
||||
"radius": 0.05
|
||||
- "center": [0.0, 0.085, 0.0]
|
||||
"radius": 0.055
|
||||
- "center": [0.0, 0.000, -0.22]
|
||||
"radius": 0.05
|
||||
- "center": [0.0, 0.05, -0.18]
|
||||
"radius": 0.045
|
||||
- "center": [0.015, 0.08, -0.14]
|
||||
"radius": 0.03
|
||||
- "center": [0.015, 0.085, -0.11]
|
||||
"radius": 0.03
|
||||
- "center": [0.015, 0.09, -0.08]
|
||||
"radius": 0.03
|
||||
- "center": [0.015, 0.095, -0.05]
|
||||
"radius": 0.03
|
||||
- "center": [-0.015, 0.08, -0.14]
|
||||
"radius": 0.03
|
||||
- "center": [-0.015, 0.085, -0.11]
|
||||
"radius": 0.03
|
||||
- "center": [-0.015, 0.09, -0.08]
|
||||
"radius": 0.03
|
||||
- "center": [-0.015, 0.095, -0.05]
|
||||
"radius": 0.03
|
||||
panda_link6:
|
||||
- "center": [0.0, 0.0, 0.0]
|
||||
"radius": 0.05
|
||||
- "center": [0.08, 0.035, 0.0]
|
||||
"radius": 0.052
|
||||
- "center": [0.08, -0.01, 0.0]
|
||||
"radius": 0.05
|
||||
panda_link7:
|
||||
- "center": [0.0, 0.0, 0.07]
|
||||
"radius": 0.05
|
||||
- "center": [0.02, 0.04, 0.08]
|
||||
"radius": 0.025
|
||||
- "center": [0.04, 0.02, 0.08]
|
||||
"radius": 0.025
|
||||
- "center": [0.04, 0.06, 0.085]
|
||||
"radius": 0.02
|
||||
- "center": [0.06, 0.04, 0.085]
|
||||
"radius": 0.02
|
||||
panda_hand:
|
||||
- "center": [0.0, -0.08, 0.01]
|
||||
"radius": 0.03
|
||||
- "center": [0.0, -0.045, 0.01]
|
||||
"radius": 0.03
|
||||
- "center": [0.0, -0.015, 0.01]
|
||||
"radius": 0.03
|
||||
- "center": [0.0, 0.015, 0.01]
|
||||
"radius": 0.03
|
||||
- "center": [0.0, 0.045, 0.01]
|
||||
"radius": 0.03
|
||||
- "center": [0.0, 0.08, 0.01]
|
||||
"radius": 0.03
|
||||
- "center": [0.0, 0.065, -0.02]
|
||||
"radius": 0.05
|
||||
- "center": [0.0, -0.08, 0.05]
|
||||
"radius": 0.05
|
||||
- "center": [0.0, -0.045, 0.05]
|
||||
"radius": 0.05
|
||||
- "center": [0.0, -0.015, 0.05]
|
||||
"radius": 0.05
|
||||
- "center": [0.0, 0.015, 0.05]
|
||||
"radius": 0.05
|
||||
- "center": [0.0, 0.045, 0.05]
|
||||
"radius": 0.05
|
||||
- "center": [0.0, 0.08, 0.05]
|
||||
"radius": 0.05
|
||||
- "center": [0.0, 0.08, 0.08]
|
||||
"radius": 0.05
|
||||
- "center": [0.0, -0.08, 0.08]
|
||||
"radius": 0.05
|
||||
- "center": [0.0, 0.05, 0.08]
|
||||
"radius": 0.05
|
||||
- "center": [0.0, -0.05, 0.08]
|
||||
"radius": 0.05
|
||||
- "center": [0.0, 0.0, 0.08]
|
||||
"radius": 0.05
|
||||
panda_leftfinger:
|
||||
- "center": [0.0, 0.01, 0.034]
|
||||
"radius": 0.02
|
||||
panda_rightfinger:
|
||||
- "center": [0.0, -0.01, 0.034]
|
||||
"radius": 0.02
|
||||
|
||||
157
src/curobo/content/configs/robot/spheres/iiwa_allegro.yml
Normal file
157
src/curobo/content/configs/robot/spheres/iiwa_allegro.yml
Normal file
@@ -0,0 +1,157 @@
|
||||
##
|
||||
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
||||
##
|
||||
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
||||
## property and proprietary rights in and to this material, related
|
||||
## documentation and any modifications thereto. Any use, reproduction,
|
||||
## disclosure or distribution of this material and related documentation
|
||||
## without an express license agreement from NVIDIA CORPORATION or
|
||||
## its affiliates is strictly prohibited.
|
||||
##
|
||||
|
||||
collision_spheres:
|
||||
iiwa7_link_0:
|
||||
- "center": [0.0, 0.0, 0.05]
|
||||
"radius": 0.10
|
||||
iiwa7_link_1:
|
||||
- "center": [0.0, 0.0, 0.0]
|
||||
"radius": 0.08
|
||||
- "center": [0.0, -0.05, 0.1]
|
||||
"radius": 0.07
|
||||
- "center": [0.0, -0.05, 0.18]
|
||||
"radius": 0.08
|
||||
iiwa7_link_2:
|
||||
- "center": [0.0, 0.0, 0.0]
|
||||
"radius": 0.08
|
||||
- "center": [0.0, 0.02, 0.06]
|
||||
"radius": 0.07
|
||||
- "center": [0.0, 0.1, 0.03]
|
||||
"radius": 0.07
|
||||
- "center": [0.0, 0.18, 0.0]
|
||||
"radius": 0.08
|
||||
iiwa7_link_3:
|
||||
- "center": [0.0, 0.0, 0.08]
|
||||
"radius": 0.08
|
||||
- "center": [0.0, 0.06, 0.16]
|
||||
"radius": 0.07
|
||||
- "center": [0.0, 0.05, 0.22]
|
||||
"radius": 0.07
|
||||
iiwa7_link_4:
|
||||
- "center": [0.0, 0.0, 0.0]
|
||||
"radius": 0.08
|
||||
- "center": [0.0, 0.0, 0.05]
|
||||
"radius": 0.07
|
||||
- "center": [0.0, 0.07, 0.05]
|
||||
"radius": 0.06
|
||||
- "center": [0.0, 0.11, 0.03]
|
||||
"radius": 0.06
|
||||
- "center": [0.0, 0.15, 0.01]
|
||||
"radius": 0.07
|
||||
iiwa7_link_5:
|
||||
- "center": [0.0, 0.0, 0.02]
|
||||
"radius": 0.08
|
||||
- "center": [0.0, 0.03, 0.07]
|
||||
"radius": 0.06
|
||||
- "center": [0.0, 0.08, 0.13]
|
||||
"radius": 0.05
|
||||
iiwa7_link_6:
|
||||
- "center": [0.0, 0.0, 0.0]
|
||||
"radius": 0.06
|
||||
- "center": [0., 0., 0.05]
|
||||
"radius": 0.08
|
||||
- "center": [0., -0.04, 0.075]
|
||||
"radius": 0.06
|
||||
- "center": [0., 0.08, 0.06]
|
||||
"radius": 0.065
|
||||
- "center": [0., 0.16, 0.06]
|
||||
"radius": 0.05
|
||||
palm_link:
|
||||
- "center": [0.0, 0.01, -0.04]
|
||||
"radius": 0.07
|
||||
index_link_1:
|
||||
- "center": [0.0, 0.0, 0.0]
|
||||
"radius": 0.016
|
||||
- "center": [0.02, 0.0, 0.0]
|
||||
"radius": 0.016
|
||||
- "center": [0.04, 0.0, 0.0]
|
||||
"radius": 0.016
|
||||
index_link_2:
|
||||
- "center": [0.0, 0.0, 0.0]
|
||||
"radius": 0.016
|
||||
- "center": [0.02, 0.0, 0.0]
|
||||
"radius": 0.016
|
||||
index_link_3:
|
||||
- "center": [0.0, 0.0, 0.0]
|
||||
"radius": 0.016
|
||||
- "center": [0.02, 0.0, 0.0]
|
||||
"radius": 0.015
|
||||
- "center": [0.04, 0.0, 0.0]
|
||||
"radius": 0.01
|
||||
- "center": [0.0475, 0.0025, 0.0]
|
||||
"radius": 0.01
|
||||
- "center": [0.055, 0.005, 0.0]
|
||||
"radius": 0.01
|
||||
middle_link_1:
|
||||
- "center": [0.0, 0.0, 0.0]
|
||||
"radius": 0.016
|
||||
- "center": [0.02, 0.0, 0.0]
|
||||
"radius": 0.016
|
||||
- "center": [0.04, 0.0, 0.0]
|
||||
"radius": 0.016
|
||||
middle_link_2:
|
||||
- "center": [0.0, 0.0, 0.0]
|
||||
"radius": 0.016
|
||||
- "center": [0.02, 0.0, 0.0]
|
||||
"radius": 0.016
|
||||
middle_link_3:
|
||||
- "center": [0.0, 0.0, 0.0]
|
||||
"radius": 0.016
|
||||
- "center": [0.02, 0.0, 0.0]
|
||||
"radius": 0.015
|
||||
- "center": [0.04, 0.0, 0.0]
|
||||
"radius": 0.01
|
||||
- "center": [0.0475, 0.0025, 0.0]
|
||||
"radius": 0.01
|
||||
- "center": [0.055, 0.005, 0.0]
|
||||
"radius": 0.01
|
||||
ring_link_1:
|
||||
- "center": [0.0, 0.0, 0.0]
|
||||
"radius": 0.016
|
||||
- "center": [0.02, 0.0, 0.0]
|
||||
"radius": 0.016
|
||||
- "center": [0.04, 0.0, 0.0]
|
||||
"radius": 0.016
|
||||
ring_link_2:
|
||||
- "center": [0.0, 0.0, 0.0]
|
||||
"radius": 0.016
|
||||
- "center": [0.02, 0.0, 0.0]
|
||||
"radius": 0.016
|
||||
ring_link_3:
|
||||
- "center": [0.0, 0.0, 0.0]
|
||||
"radius": 0.016
|
||||
- "center": [0.02, 0.0, 0.0]
|
||||
"radius": 0.015
|
||||
- "center": [0.04, 0.0, 0.0]
|
||||
"radius": 0.01
|
||||
- "center": [0.0475, 0.0025, 0.0]
|
||||
"radius": 0.01
|
||||
- "center": [0.055, 0.005, 0.0]
|
||||
"radius": 0.01
|
||||
thumb_link_2:
|
||||
- "center": [0.0, 0.0, 0.0]
|
||||
"radius": 0.016
|
||||
- "center": [0.02, 0.0, 0.0]
|
||||
"radius": 0.016
|
||||
thumb_link_3:
|
||||
- "center": [0.0, 0.0, 0.0]
|
||||
"radius": 0.016
|
||||
- "center": [0.02, 0.0, 0.0]
|
||||
"radius": 0.016
|
||||
- "center": [0.04, 0.0, 0.0]
|
||||
"radius": 0.015
|
||||
- "center": [0.05, 0.0, 0.0]
|
||||
"radius": 0.01
|
||||
- "center": [0.06, 0.003, 0.0]
|
||||
"radius": 0.01
|
||||
- "center": [0.07, 0.0055, 0.0]
|
||||
"radius": 0.01
|
||||
76
src/curobo/content/configs/robot/spheres/kinova_gen3.yml
Normal file
76
src/curobo/content/configs/robot/spheres/kinova_gen3.yml
Normal file
@@ -0,0 +1,76 @@
|
||||
##
|
||||
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
||||
##
|
||||
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
||||
## property and proprietary rights in and to this material, related
|
||||
## documentation and any modifications thereto. Any use, reproduction,
|
||||
## disclosure or distribution of this material and related documentation
|
||||
## without an express license agreement from NVIDIA CORPORATION or
|
||||
## its affiliates is strictly prohibited.
|
||||
##
|
||||
collision_spheres:
|
||||
base_link:
|
||||
- "center": [0.0, 0.0, 0.1]
|
||||
"radius": 0.05
|
||||
|
||||
shoulder_link:
|
||||
- "center": [0.0, 0.0, -0.1]
|
||||
"radius": 0.06
|
||||
- "center": [0.0, 0.0, -0.15]
|
||||
"radius": 0.05
|
||||
half_arm_1_link:
|
||||
- "center": [0.0, -0.0, 0.0]
|
||||
"radius": 0.055
|
||||
- "center": [0.0, -0.07, 0.0]
|
||||
"radius": 0.055
|
||||
- "center": [0.0, -0.15,0.0]
|
||||
"radius": 0.055
|
||||
half_arm_2_link:
|
||||
- "center": [0.0, -0.0, 0.0]
|
||||
"radius": 0.055
|
||||
- "center": [0.0, -0.0, -0.07]
|
||||
"radius": 0.055
|
||||
- "center": [0.0, -0.0,-0.15]
|
||||
"radius": 0.055
|
||||
- "center": [0.0, -0.0,-0.21]
|
||||
"radius": 0.055
|
||||
forearm_link:
|
||||
- "center": [0.0, -0.0, 0.0]
|
||||
"radius": 0.055
|
||||
- "center": [0.0, -0.07, -0.0]
|
||||
"radius": 0.055
|
||||
- "center": [0.0, -0.17,-0.0]
|
||||
"radius": 0.055
|
||||
spherical_wrist_1_link:
|
||||
- "center": [0.0, -0.0, 0.0]
|
||||
"radius": 0.055
|
||||
- "center": [0.0, -0.0, -0.085]
|
||||
"radius": 0.055
|
||||
spherical_wrist_2_link:
|
||||
- "center": [0.0, -0.0, 0.0]
|
||||
"radius": 0.05
|
||||
- "center": [0.0, -0.085, -0.0]
|
||||
"radius": 0.05
|
||||
bracelet_link:
|
||||
- "center": [0.0, -0.0, -0.05]
|
||||
"radius": 0.04
|
||||
- "center": [0.0, -0.05, -0.05]
|
||||
"radius": 0.04
|
||||
robotiq_arg2f_base_link:
|
||||
- "center": [0.0, -0.0, 0.04]
|
||||
"radius": 0.04
|
||||
left_outer_finger:
|
||||
- "center": [0.0, -0.01, 0.02]
|
||||
"radius": 0.03
|
||||
left_inner_finger_pad:
|
||||
- "center": [0.0, -0.0, 0.0]
|
||||
"radius": 0.01
|
||||
right_outer_finger:
|
||||
- "center": [0.0, -0.01, 0.02]
|
||||
"radius": 0.03
|
||||
right_inner_finger_pad:
|
||||
- "center": [0.0, -0.0, 0.0]
|
||||
"radius": 0.01
|
||||
|
||||
|
||||
|
||||
214
src/curobo/content/configs/robot/spheres/quad_ur10e.yml
Normal file
214
src/curobo/content/configs/robot/spheres/quad_ur10e.yml
Normal file
@@ -0,0 +1,214 @@
|
||||
##
|
||||
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
||||
##
|
||||
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
||||
## property and proprietary rights in and to this material, related
|
||||
## documentation and any modifications thereto. Any use, reproduction,
|
||||
## disclosure or distribution of this material and related documentation
|
||||
## without an express license agreement from NVIDIA CORPORATION or
|
||||
## its affiliates is strictly prohibited.
|
||||
##
|
||||
robot: 'UR10'
|
||||
collision_spheres:
|
||||
shoulder_link:
|
||||
- center: [0, 0, 0]
|
||||
radius: 0.05
|
||||
- center: [0.0, -0.18, 0]
|
||||
radius: 0.05
|
||||
upper_arm_link:
|
||||
- center: [-0.102167, 0, 0.18]
|
||||
radius: 0.05
|
||||
- center: [-0.204333, -8.88178e-19, 0.18]
|
||||
radius: 0.05
|
||||
- center: [-0.3065, -1.33227e-18, 0.18]
|
||||
radius: 0.05
|
||||
- center: [-0.408667, -1.77636e-18, 0.18]
|
||||
radius: 0.05
|
||||
- center: [-0.510833, 0, 0.18]
|
||||
radius: 0.05
|
||||
- center: [ -0.613, 0,0.18]
|
||||
radius: 0.07
|
||||
forearm_link:
|
||||
- center: [-0, 0, 0.03]
|
||||
radius: 0.05
|
||||
- center: [-0.0951667, 0, 0.03]
|
||||
radius: 0.05
|
||||
- center: [-0.190333, 0, 0.03]
|
||||
radius: 0.05
|
||||
- center: [-0.2855, 0, 0.03]
|
||||
radius: 0.05
|
||||
- center: [-0.380667, 0,0.03]
|
||||
radius: 0.05
|
||||
- center: [-0.475833, 0,0.03]
|
||||
radius: 0.05
|
||||
- center: [-0.571, -1.19904e-17, 0.03]
|
||||
radius: 0.05
|
||||
wrist_1_link:
|
||||
- center: [0, 0, 0]
|
||||
radius: 0.05
|
||||
wrist_2_link:
|
||||
- center: [0, 0, 0]
|
||||
radius: 0.05
|
||||
wrist_3_link:
|
||||
- center: [0, 0, 0]
|
||||
radius: 0.05
|
||||
- center: [0, 0, 0.06]
|
||||
radius: 0.08
|
||||
tool0:
|
||||
- center: [0, 0, 0.03]
|
||||
radius: 0.05
|
||||
|
||||
|
||||
shoulder_link_1:
|
||||
- center: [0, 0, 0]
|
||||
radius: 0.05
|
||||
- center: [0.0, -0.18, 0]
|
||||
radius: 0.05
|
||||
upper_arm_link_1:
|
||||
- center: [-0.102167, 0, 0.18]
|
||||
radius: 0.05
|
||||
- center: [-0.204333, -8.88178e-19, 0.18]
|
||||
radius: 0.05
|
||||
- center: [-0.3065, -1.33227e-18, 0.18]
|
||||
radius: 0.05
|
||||
- center: [-0.408667, -1.77636e-18, 0.18]
|
||||
radius: 0.05
|
||||
- center: [-0.510833, 0, 0.18]
|
||||
radius: 0.05
|
||||
- center: [ -0.613, 0,0.18]
|
||||
radius: 0.07
|
||||
forearm_link_1:
|
||||
- center: [-0, 0, 0.03]
|
||||
radius: 0.05
|
||||
- center: [-0.0951667, 0, 0.03]
|
||||
radius: 0.05
|
||||
- center: [-0.190333, 0, 0.03]
|
||||
radius: 0.05
|
||||
- center: [-0.2855, 0, 0.03]
|
||||
radius: 0.05
|
||||
- center: [-0.380667, 0,0.03]
|
||||
radius: 0.05
|
||||
- center: [-0.475833, 0,0.03]
|
||||
radius: 0.05
|
||||
- center: [-0.571, -1.19904e-17, 0.03]
|
||||
radius: 0.05
|
||||
wrist_1_link_1:
|
||||
- center: [0, 0, 0]
|
||||
radius: 0.05
|
||||
wrist_2_link_1:
|
||||
- center: [0, 0, 0]
|
||||
radius: 0.05
|
||||
wrist_3_link_1:
|
||||
- center: [0, 0, 0]
|
||||
radius: 0.05
|
||||
- center: [0, 0, 0.06]
|
||||
radius: 0.08
|
||||
|
||||
tool1:
|
||||
- center: [0, 0, 0.03]
|
||||
radius: 0.05
|
||||
|
||||
|
||||
|
||||
shoulder_link_2:
|
||||
- center: [0, 0, 0]
|
||||
radius: 0.05
|
||||
- center: [0.0, -0.18, 0]
|
||||
radius: 0.05
|
||||
upper_arm_link_2:
|
||||
- center: [-0.102167, 0, 0.18]
|
||||
radius: 0.05
|
||||
- center: [-0.204333, -8.88178e-19, 0.18]
|
||||
radius: 0.05
|
||||
- center: [-0.3065, -1.33227e-18, 0.18]
|
||||
radius: 0.05
|
||||
- center: [-0.408667, -1.77636e-18, 0.18]
|
||||
radius: 0.05
|
||||
- center: [-0.510833, 0, 0.18]
|
||||
radius: 0.05
|
||||
- center: [ -0.613, 0,0.18]
|
||||
radius: 0.07
|
||||
forearm_link_2:
|
||||
- center: [-0, 0, 0.03]
|
||||
radius: 0.05
|
||||
- center: [-0.0951667, 0, 0.03]
|
||||
radius: 0.05
|
||||
- center: [-0.190333, 0, 0.03]
|
||||
radius: 0.05
|
||||
- center: [-0.2855, 0, 0.03]
|
||||
radius: 0.05
|
||||
- center: [-0.380667, 0,0.03]
|
||||
radius: 0.05
|
||||
- center: [-0.475833, 0,0.03]
|
||||
radius: 0.05
|
||||
- center: [-0.571, -1.19904e-17, 0.03]
|
||||
radius: 0.05
|
||||
wrist_1_link_2:
|
||||
- center: [0, 0, 0]
|
||||
radius: 0.05
|
||||
wrist_2_link_2:
|
||||
- center: [0, 0, 0]
|
||||
radius: 0.05
|
||||
wrist_3_link_2:
|
||||
- center: [0, 0, 0]
|
||||
radius: 0.05
|
||||
- center: [0, 0, 0.06]
|
||||
radius: 0.08
|
||||
|
||||
tool2:
|
||||
- center: [0, 0, 0.03]
|
||||
radius: 0.05
|
||||
|
||||
|
||||
|
||||
shoulder_link_3:
|
||||
- center: [0, 0, 0]
|
||||
radius: 0.05
|
||||
- center: [0.0, -0.18, 0]
|
||||
radius: 0.05
|
||||
upper_arm_link_3:
|
||||
- center: [-0.102167, 0, 0.18]
|
||||
radius: 0.05
|
||||
- center: [-0.204333, -8.88178e-19, 0.18]
|
||||
radius: 0.05
|
||||
- center: [-0.3065, -1.33227e-18, 0.18]
|
||||
radius: 0.05
|
||||
- center: [-0.408667, -1.77636e-18, 0.18]
|
||||
radius: 0.05
|
||||
- center: [-0.510833, 0, 0.18]
|
||||
radius: 0.05
|
||||
- center: [ -0.613, 0,0.18]
|
||||
radius: 0.07
|
||||
forearm_link_3:
|
||||
- center: [-0, 0, 0.03]
|
||||
radius: 0.05
|
||||
- center: [-0.0951667, 0, 0.03]
|
||||
radius: 0.05
|
||||
- center: [-0.190333, 0, 0.03]
|
||||
radius: 0.05
|
||||
- center: [-0.2855, 0, 0.03]
|
||||
radius: 0.05
|
||||
- center: [-0.380667, 0,0.03]
|
||||
radius: 0.05
|
||||
- center: [-0.475833, 0,0.03]
|
||||
radius: 0.05
|
||||
- center: [-0.571, -1.19904e-17, 0.03]
|
||||
radius: 0.05
|
||||
wrist_1_link_3:
|
||||
- center: [0, 0, 0]
|
||||
radius: 0.05
|
||||
wrist_2_link_3:
|
||||
- center: [0, 0, 0]
|
||||
radius: 0.05
|
||||
wrist_3_link_3:
|
||||
- center: [0, 0, 0]
|
||||
radius: 0.05
|
||||
- center: [0, 0, 0.06]
|
||||
radius: 0.08
|
||||
|
||||
tool3:
|
||||
- center: [0, 0, 0.03]
|
||||
radius: 0.05
|
||||
|
||||
|
||||
|
||||
16
src/curobo/content/configs/robot/spheres/single.yml
Normal file
16
src/curobo/content/configs/robot/spheres/single.yml
Normal file
@@ -0,0 +1,16 @@
|
||||
##
|
||||
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
||||
##
|
||||
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
||||
## property and proprietary rights in and to this material, related
|
||||
## documentation and any modifications thereto. Any use, reproduction,
|
||||
## disclosure or distribution of this material and related documentation
|
||||
## without an express license agreement from NVIDIA CORPORATION or
|
||||
## its affiliates is strictly prohibited.
|
||||
##
|
||||
robot: 'single'
|
||||
collision_spheres:
|
||||
base:
|
||||
- "center": [-0.08, 0.0, 0.05]
|
||||
"radius": 0.06
|
||||
|
||||
63
src/curobo/content/configs/robot/spheres/ur10e.yml
Normal file
63
src/curobo/content/configs/robot/spheres/ur10e.yml
Normal file
@@ -0,0 +1,63 @@
|
||||
##
|
||||
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
||||
##
|
||||
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
||||
## property and proprietary rights in and to this material, related
|
||||
## documentation and any modifications thereto. Any use, reproduction,
|
||||
## disclosure or distribution of this material and related documentation
|
||||
## without an express license agreement from NVIDIA CORPORATION or
|
||||
## its affiliates is strictly prohibited.
|
||||
##
|
||||
robot: 'UR10'
|
||||
collision_spheres:
|
||||
shoulder_link:
|
||||
- center: [0, 0, 0.0]
|
||||
radius: 0.02
|
||||
upper_arm_link:
|
||||
- center: [-0, -0, 0.18]
|
||||
radius: 0.09
|
||||
- center: [-0.102167, 0, 0.18]
|
||||
radius: 0.05
|
||||
- center: [-0.204333, -8.88178e-19, 0.18]
|
||||
radius: 0.05
|
||||
- center: [-0.3065, -1.33227e-18, 0.18]
|
||||
radius: 0.05
|
||||
- center: [-0.408667, -1.77636e-18, 0.18]
|
||||
radius: 0.05
|
||||
- center: [-0.510833, 0, 0.18]
|
||||
radius: 0.05
|
||||
- center: [ -0.613, 0,0.18]
|
||||
radius: 0.07
|
||||
forearm_link:
|
||||
- center: [-0, 0, 0.03]
|
||||
radius: 0.05
|
||||
- center: [-0.0951667, 0, 0.03]
|
||||
radius: 0.05
|
||||
- center: [-0.190333, 0, 0.03]
|
||||
radius: 0.05
|
||||
- center: [-0.2855, 0, 0.03]
|
||||
radius: 0.05
|
||||
- center: [-0.380667, 0,0.03]
|
||||
radius: 0.05
|
||||
- center: [-0.475833, 0,0.03]
|
||||
radius: 0.05
|
||||
- center: [-0.571, -1.19904e-17, 0.03]
|
||||
radius: 0.05
|
||||
wrist_1_link:
|
||||
- center: [0, 0, 0]
|
||||
radius: 0.05
|
||||
wrist_2_link:
|
||||
- center: [0, 0, 0]
|
||||
radius: 0.05
|
||||
wrist_3_link:
|
||||
- center: [0, 0, 0]
|
||||
radius: 0.05
|
||||
- center: [0, 0, 0.06]
|
||||
radius: 0.08
|
||||
|
||||
tool0:
|
||||
- center: [0, 0, 0.03]
|
||||
radius: 0.05
|
||||
camera_mount:
|
||||
- center: [0, 0.11, -0.01]
|
||||
radius: 0.06
|
||||
46
src/curobo/content/configs/robot/template.yml
Normal file
46
src/curobo/content/configs/robot/template.yml
Normal file
@@ -0,0 +1,46 @@
|
||||
##
|
||||
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
||||
##
|
||||
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
||||
## property and proprietary rights in and to this material, related
|
||||
## documentation and any modifications thereto. Any use, reproduction,
|
||||
## disclosure or distribution of this material and related documentation
|
||||
## without an express license agreement from NVIDIA CORPORATION or
|
||||
## its affiliates is strictly prohibited.
|
||||
##
|
||||
|
||||
robot_cfg:
|
||||
kinematics:
|
||||
usd_path: "FILL_THIS"
|
||||
usd_robot_root: "/robot"
|
||||
isaac_usd_path: ""
|
||||
usd_flip_joints: {}
|
||||
usd_flip_joint_limits: []
|
||||
|
||||
urdf_path: "FILL_THIS"
|
||||
asset_root_path: ""
|
||||
|
||||
base_link: "FILL_THIS"
|
||||
ee_link: "FILL_THIS"
|
||||
link_names: null
|
||||
lock_joints: null
|
||||
extra_links: null
|
||||
|
||||
|
||||
collision_link_names: null # List[str]
|
||||
collision_spheres: null #
|
||||
collision_sphere_buffer: 0.005
|
||||
extra_collision_spheres: {}
|
||||
self_collision_ignore: null # Dict[str, List[str]]
|
||||
self_collision_buffer: null # Dict[str, float]
|
||||
|
||||
use_global_cumul: True
|
||||
mesh_link_names: null # List[str]
|
||||
|
||||
cspace:
|
||||
joint_names: [] # List[str]
|
||||
retract_config: null # List[float]
|
||||
null_space_weight: null # List[str]
|
||||
cspace_distance_weight: null # List[str]
|
||||
max_jerk: 500.0
|
||||
max_acceleration: 15.0
|
||||
140
src/curobo/content/configs/robot/tm12.yml
Normal file
140
src/curobo/content/configs/robot/tm12.yml
Normal file
@@ -0,0 +1,140 @@
|
||||
##
|
||||
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
||||
##
|
||||
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
||||
## property and proprietary rights in and to this material, related
|
||||
## documentation and any modifications thereto. Any use, reproduction,
|
||||
## disclosure or distribution of this material and related documentation
|
||||
## without an express license agreement from NVIDIA CORPORATION or
|
||||
## its affiliates is strictly prohibited.
|
||||
##
|
||||
|
||||
robot_cfg:
|
||||
kinematics:
|
||||
use_usd_kinematics: False
|
||||
usd_path: "robot/non_shipping/techman/tm12.usd"
|
||||
usd_robot_root: "/tm12"
|
||||
usd_flip_joints:
|
||||
{
|
||||
"shoulder_1_joint": "Z",
|
||||
"shoulder_2_joint": "Z",
|
||||
"elbow_joint": "Z",
|
||||
"wrist_1_joint": "Z",
|
||||
"wrist_2_joint": "Z",
|
||||
"wrist_3_joint": "Z",
|
||||
}
|
||||
urdf_path: "robot/techman/tm_description/urdf/tm12-nominal.urdf"
|
||||
asset_root_path: "robot/techman/tm_description"
|
||||
|
||||
base_link: "base"
|
||||
ee_link: "tool0"
|
||||
link_names: null
|
||||
|
||||
collision_link_names: [
|
||||
"link_1",
|
||||
"link_2",
|
||||
"link_3",
|
||||
"link_4",
|
||||
"link_5",
|
||||
"link_6",
|
||||
] # List[str]
|
||||
|
||||
collision_spheres:
|
||||
link_1:
|
||||
- "center": [-0.0, -0.0, 0.018]
|
||||
"radius": 0.1
|
||||
- "center": [-0.017, -0.18, 0.02]
|
||||
"radius": 0.1
|
||||
link_2:
|
||||
- "center": [0.116, 0.006, -0.182]
|
||||
"radius": 0.075
|
||||
- "center": [0.638, -0.004, -0.192]
|
||||
"radius": 0.08
|
||||
- "center": [0.19, 0.004, -0.183]
|
||||
"radius": 0.075
|
||||
- "center": [0.265, 0.003, -0.184]
|
||||
"radius": 0.075
|
||||
- "center": [0.34, 0.001, -0.186]
|
||||
"radius": 0.075
|
||||
- "center": [0.414, 0.0, -0.187]
|
||||
"radius": 0.075
|
||||
- "center": [0.489, -0.001, -0.189]
|
||||
"radius": 0.075
|
||||
- "center": [0.563, -0.003, -0.19]
|
||||
"radius": 0.075
|
||||
link_3:
|
||||
- "center": [0.012, 0.004, -0.076]
|
||||
"radius": 0.08
|
||||
- "center": [0.55, -0.001, -0.046]
|
||||
"radius": 0.07
|
||||
- "center": [0.088, 0.003, -0.061]
|
||||
"radius": 0.06
|
||||
- "center": [0.165, 0.002, -0.056]
|
||||
"radius": 0.06
|
||||
- "center": [0.242, 0.001, -0.052]
|
||||
"radius": 0.06
|
||||
- "center": [0.319, 0.001, -0.047]
|
||||
"radius": 0.06
|
||||
- "center": [0.396, -0.0, -0.043]
|
||||
"radius": 0.06
|
||||
- "center": [0.473, -0.001, -0.038]
|
||||
"radius": 0.06
|
||||
link_4:
|
||||
- "center": [0.0, 0.0, 0.0]
|
||||
"radius": 0.07
|
||||
|
||||
link_5:
|
||||
- "center": [0.0, 0.0, 0.0]
|
||||
"radius": 0.06
|
||||
link_6:
|
||||
- "center": [0.003, -0.002, -0.028]
|
||||
"radius": 0.06
|
||||
- "center": [-0.001, 0.075, 0.009]
|
||||
"radius": 0.05
|
||||
- "center": [-0.0, 0.078, -0.028]
|
||||
"radius": 0.05
|
||||
- "center": [-0.031, 0.128, 0.008]
|
||||
"radius": 0.03
|
||||
- "center": [-0.006, 0.146, 0.0]
|
||||
"radius": 0.03
|
||||
- "center": [0.025, 0.125, 0.007]
|
||||
"radius": 0.03
|
||||
- "center": [-0.005, 0.128, 0.003]
|
||||
"radius": 0.03
|
||||
collision_sphere_buffer: 0.0
|
||||
|
||||
self_collision_ignore: {
|
||||
"link_1": ["link_2"],
|
||||
"link_2": ["link_3"],
|
||||
"link_3": ["link_4", "link_5"],
|
||||
"link_4": ["link_5", "link_6"],
|
||||
"link_5": ["link_6", "link_4"],
|
||||
}
|
||||
self_collision_buffer: {
|
||||
link_1: -0.01,
|
||||
link_2: -0.02,
|
||||
link_3: -0.01,
|
||||
link_4: -0.02,
|
||||
link_6: -0.02,
|
||||
link_5: -0.02,
|
||||
} # Dict[str, float]
|
||||
|
||||
mesh_link_names: ["link_0", "link_1", "link_2", "link_3", "link_4", "link_5", "link_6"] # List[str]
|
||||
lock_joints: null
|
||||
add_object_link: False
|
||||
|
||||
cspace:
|
||||
joint_names: [
|
||||
"shoulder_1_joint",
|
||||
"shoulder_2_joint",
|
||||
"elbow_joint",
|
||||
"wrist_1_joint",
|
||||
"wrist_2_joint",
|
||||
"wrist_3_joint",
|
||||
] # List[str]
|
||||
retract_config: [0.0, -0.5, 1.9, -0.2, 1.25, 0.0] # List[float]
|
||||
null_space_weight: [1,1,1,1,1,1] # List[str]
|
||||
cspace_distance_weight: [1,1,1,1,1,1] # List[str]
|
||||
|
||||
max_acceleration: 13.5
|
||||
max_jerk: 2000.0
|
||||
75
src/curobo/content/configs/robot/tri_ur10e.yml
Normal file
75
src/curobo/content/configs/robot/tri_ur10e.yml
Normal file
@@ -0,0 +1,75 @@
|
||||
##
|
||||
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
||||
##
|
||||
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
||||
## property and proprietary rights in and to this material, related
|
||||
## documentation and any modifications thereto. Any use, reproduction,
|
||||
## disclosure or distribution of this material and related documentation
|
||||
## without an express license agreement from NVIDIA CORPORATION or
|
||||
## its affiliates is strictly prohibited.
|
||||
##
|
||||
|
||||
robot_cfg:
|
||||
kinematics:
|
||||
use_usd_kinematics: False
|
||||
urdf_path: "robot/ur_description/tri_ur10e.urdf"
|
||||
asset_root_path: "robot/ur_description"
|
||||
isaac_usd_path: "/Isaac/Robots/UR10/ur10_long_suction.usd"
|
||||
usd_robot_root: "/ur10"
|
||||
usd_path: "robot/ur_description/tri_ur10e.usd"
|
||||
base_link: "base_fixture_link"
|
||||
ee_link: "tool0"
|
||||
link_names: ["tool1","tool2"]
|
||||
collision_link_names: [
|
||||
'shoulder_link','upper_arm_link', 'forearm_link', 'wrist_1_link', 'wrist_2_link' ,'wrist_3_link', 'tool0',
|
||||
'shoulder_link_1','upper_arm_link_1', 'forearm_link_1', 'wrist_1_link_1', 'wrist_2_link_1' ,'wrist_3_link_1', 'tool1',
|
||||
'shoulder_link_2','upper_arm_link_2', 'forearm_link_2', 'wrist_1_link_2', 'wrist_2_link_2' ,'wrist_3_link_2', 'tool2']
|
||||
collision_spheres: 'spheres/quad_ur10e.yml'
|
||||
collision_sphere_buffer: 0.005
|
||||
|
||||
|
||||
self_collision_ignore: {
|
||||
"upper_arm_link": ["shoulder_link","forearm_link"],
|
||||
"forarm_link": ["wrist_1_link"],
|
||||
"wrist_1_link": ["wrist_2_link","wrist_3_link"],
|
||||
"wrist_2_link": ["wrist_3_link", "tool0"],
|
||||
"wrist_3_link": ["tool0"],
|
||||
|
||||
"upper_arm_link_1": ["shoulder_link_1","forearm_link_1"],
|
||||
"forarm_link_1": ["wrist_1_link_1"],
|
||||
"wrist_1_link_1": ["wrist_2_link_1","wrist_3_link_1"],
|
||||
"wrist_2_link_1": ["wrist_3_link_1", "tool1"],
|
||||
"wrist_3_link_1": ["tool1"],
|
||||
|
||||
"upper_arm_link_2": ["shoulder_link_2","forearm_link_2"],
|
||||
"forarm_link_2": ["wrist_1_link_2"],
|
||||
"wrist_1_link_2": ["wrist_2_link_2","wrist_3_link_2"],
|
||||
"wrist_2_link_2": ["wrist_3_link_2", "tool2"],
|
||||
"wrist_3_link_2": ["tool2"],
|
||||
|
||||
|
||||
|
||||
}
|
||||
self_collision_buffer: {
|
||||
'shoulder_link': 0.05,
|
||||
'shoulder_link_1': 0.05,
|
||||
'shoulder_link_2': 0.05,
|
||||
}
|
||||
lock_joints: null
|
||||
|
||||
cspace:
|
||||
joint_names: [
|
||||
'shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint',
|
||||
'shoulder_pan_joint_1', 'shoulder_lift_joint_1', 'elbow_joint_1', 'wrist_1_joint_1', 'wrist_2_joint_1', 'wrist_3_joint_1',
|
||||
'shoulder_pan_joint_2', 'shoulder_lift_joint_2', 'elbow_joint_2', 'wrist_1_joint_2', 'wrist_2_joint_2', 'wrist_3_joint_2']
|
||||
retract_config: [-1.57, -2.2, 1.9, -1.383, -1.57, 0.00,
|
||||
-1.57, -2.2, 1.9, -1.383, -1.57, 0.00,
|
||||
-1.57, -2.2, 1.9, -1.383, -1.57, 0.00]
|
||||
null_space_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
|
||||
1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
|
||||
1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
|
||||
cspace_distance_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
|
||||
1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
|
||||
1.0, 1.0, 1.0, 1.0, 1.0, 1.0] #[2.5, 1.75, 1.5, 1.25, 0.7, 0.4]
|
||||
max_jerk: 500.0
|
||||
max_acceleration: 15.0
|
||||
51
src/curobo/content/configs/robot/ur10e.yml
Normal file
51
src/curobo/content/configs/robot/ur10e.yml
Normal file
@@ -0,0 +1,51 @@
|
||||
##
|
||||
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
||||
##
|
||||
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
||||
## property and proprietary rights in and to this material, related
|
||||
## documentation and any modifications thereto. Any use, reproduction,
|
||||
## disclosure or distribution of this material and related documentation
|
||||
## without an express license agreement from NVIDIA CORPORATION or
|
||||
## its affiliates is strictly prohibited.
|
||||
##
|
||||
|
||||
robot_cfg:
|
||||
kinematics:
|
||||
use_usd_kinematics: False
|
||||
urdf_path: "robot/ur_description/ur10e.urdf"
|
||||
asset_root_path: "robot/ur_description"
|
||||
isaac_usd_path: "/Isaac/Robots/UR10/ur10_long_suction.usd"
|
||||
usd_robot_root: "/ur10"
|
||||
usd_path: "robot/ur_description/ur10e.usd"
|
||||
base_link: "base_link"
|
||||
ee_link: "tool0"
|
||||
link_names: null
|
||||
collision_link_names: ['shoulder_link','upper_arm_link', 'forearm_link', 'wrist_1_link', 'wrist_2_link' ,'wrist_3_link', 'tool0']
|
||||
collision_spheres: 'spheres/ur10e.yml'
|
||||
collision_sphere_buffer: 0.02
|
||||
self_collision_ignore: {
|
||||
"upper_arm_link": ["forearm_link", "shoulder_link"],
|
||||
"forarm_link": ["wrist_1_link"],
|
||||
"wrist_1_link": ["wrist_2_link","wrist_3_link"],
|
||||
"wrist_2_link": ["wrist_3_link", "tool0"],
|
||||
"wrist_3_link": ["tool0"],
|
||||
"camera_mount": ["tool0", "wrist_3_link"],
|
||||
}
|
||||
self_collision_buffer: {
|
||||
'shoulder_link': 0.07,
|
||||
'upper_arm_link': 0,
|
||||
'forearm_link': 0,
|
||||
'wrist_1_link': 0,
|
||||
'wrist_2_link': 0,
|
||||
'wrist_3_link' : 0,
|
||||
'tool0': 0,
|
||||
}
|
||||
lock_joints: null
|
||||
|
||||
cspace:
|
||||
joint_names: ['shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint']
|
||||
retract_config: [0.0, -2.2, 1.9, -1.383, -1.57, 0.00]
|
||||
null_space_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
|
||||
cspace_distance_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0] #[2.5, 1.75, 1.5, 1.25, 0.7, 0.4]
|
||||
max_jerk: 500.0
|
||||
max_acceleration: 15.0
|
||||
117
src/curobo/content/configs/robot/ur5e.yml
Normal file
117
src/curobo/content/configs/robot/ur5e.yml
Normal file
@@ -0,0 +1,117 @@
|
||||
##
|
||||
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
||||
##
|
||||
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
||||
## property and proprietary rights in and to this material, related
|
||||
## documentation and any modifications thereto. Any use, reproduction,
|
||||
## disclosure or distribution of this material and related documentation
|
||||
## without an express license agreement from NVIDIA CORPORATION or
|
||||
## its affiliates is strictly prohibited.
|
||||
##
|
||||
|
||||
robot_cfg:
|
||||
kinematics:
|
||||
usd_path: "robot/ur_description/ur5e.usd"
|
||||
usd_robot_root: "/robot"
|
||||
isaac_usd_path: ""
|
||||
usd_flip_joints: {}
|
||||
usd_flip_joint_limits: []
|
||||
|
||||
urdf_path: "robot/ur_description/ur5e.urdf"
|
||||
asset_root_path: "robot/ur_description"
|
||||
|
||||
base_link: "base_link"
|
||||
ee_link: "tool0"
|
||||
link_names: null
|
||||
lock_joints: null
|
||||
extra_links: null
|
||||
|
||||
|
||||
collision_link_names: ['shoulder_link','upper_arm_link', 'forearm_link', 'wrist_1_link', 'wrist_2_link' ,'wrist_3_link'] # List[str]
|
||||
collision_spheres:
|
||||
shoulder_link:
|
||||
- "center": [0.0, 0.0, 0.0]
|
||||
"radius": 0.1
|
||||
upper_arm_link:
|
||||
- "center": [-0.416, -0.0, 0.143]
|
||||
"radius": 0.078
|
||||
- "center": [-0.015, 0.0, 0.134]
|
||||
"radius": 0.077
|
||||
- "center": [-0.14, 0.0, 0.138]
|
||||
"radius": 0.062
|
||||
- "center": [-0.285, -0.001, 0.139]
|
||||
"radius": 0.061
|
||||
- "center": [-0.376, 0.001, 0.138]
|
||||
"radius": 0.077
|
||||
- "center": [-0.222, 0.001, 0.139]
|
||||
"radius": 0.061
|
||||
- "center": [-0.055, 0.008, 0.14]
|
||||
"radius": 0.07
|
||||
- "center": [-0.001, -0.002, 0.143]
|
||||
"radius": 0.076
|
||||
forearm_link:
|
||||
- "center": [-0.01, 0.002, 0.031]
|
||||
"radius": 0.072
|
||||
- "center": [-0.387, 0.0, 0.014]
|
||||
"radius": 0.057
|
||||
- "center": [-0.121, -0.0, 0.006]
|
||||
"radius": 0.057
|
||||
- "center": [-0.206, 0.001, 0.007]
|
||||
"radius": 0.057
|
||||
- "center": [-0.312, -0.001, 0.006]
|
||||
"radius": 0.056
|
||||
- "center": [-0.057, 0.003, 0.008]
|
||||
"radius": 0.065
|
||||
- "center": [-0.266, 0.0, 0.006]
|
||||
"radius": 0.057
|
||||
- "center": [-0.397, -0.001, -0.018]
|
||||
"radius": 0.052
|
||||
- "center": [-0.164, -0.0, 0.007]
|
||||
"radius": 0.057
|
||||
wrist_1_link:
|
||||
- "center": [-0.0, 0.0, -0.009]
|
||||
"radius": 0.047
|
||||
- "center": [-0.0, 0.0, -0.052]
|
||||
"radius": 0.047
|
||||
- "center": [-0.002, 0.027, -0.001]
|
||||
"radius": 0.045
|
||||
- "center": [0.001, -0.01, 0.0]
|
||||
"radius": 0.046
|
||||
wrist_2_link:
|
||||
- "center": [0.0, -0.01, -0.001]
|
||||
"radius": 0.047
|
||||
- "center": [0.0, 0.008, -0.001]
|
||||
"radius": 0.047
|
||||
- "center": [0.001, -0.001, -0.036]
|
||||
"radius": 0.047
|
||||
- "center": [0.001, -0.03, -0.0]
|
||||
"radius": 0.047
|
||||
wrist_3_link:
|
||||
- "center": [0.001, 0.001, -0.029]
|
||||
"radius": 0.043
|
||||
|
||||
collision_sphere_buffer: 0.005
|
||||
extra_collision_spheres: {}
|
||||
self_collision_ignore: {
|
||||
"upper_arm_link": ["forearm_link", "shoulder_link"],
|
||||
"forearm_link": ["wrist_1_link", "wrist_2_link", "wrist_3_link"],
|
||||
"wrist_1_link": ["wrist_2_link","wrist_3_link"],
|
||||
"wrist_2_link": ["wrist_3_link"],
|
||||
}
|
||||
self_collision_buffer: {'upper_arm_link': 0,
|
||||
'forearm_link': 0,
|
||||
'wrist_1_link': 0,
|
||||
'wrist_2_link': 0,
|
||||
'wrist_3_link' : 0,
|
||||
}
|
||||
|
||||
use_global_cumul: True
|
||||
mesh_link_names: null # List[str]
|
||||
|
||||
cspace:
|
||||
joint_names: ['shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint']
|
||||
retract_config: [0.0, -2.2, 1.9, -1.383, -1.57, 0.00]
|
||||
null_space_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
|
||||
cspace_distance_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
|
||||
max_jerk: 500.0
|
||||
max_acceleration: 15.0
|
||||
60
src/curobo/content/configs/task/base_cfg.yml
Normal file
60
src/curobo/content/configs/task/base_cfg.yml
Normal file
@@ -0,0 +1,60 @@
|
||||
##
|
||||
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
||||
##
|
||||
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
||||
## property and proprietary rights in and to this material, related
|
||||
## documentation and any modifications thereto. Any use, reproduction,
|
||||
## disclosure or distribution of this material and related documentation
|
||||
## without an express license agreement from NVIDIA CORPORATION or
|
||||
## its affiliates is strictly prohibited.
|
||||
##
|
||||
|
||||
|
||||
world_collision_checker_cfg:
|
||||
cache: null #{"cube": 41, "capsule": 0, "sphere": 0}
|
||||
checker_type: "PRIMITIVE" # ["PRIMITIVE", "BLOX", "MESH"]
|
||||
max_distance: 0.1
|
||||
|
||||
|
||||
cost:
|
||||
pose_cfg:
|
||||
vec_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
|
||||
weight: [0.0, 0.0]
|
||||
vec_convergence: [0.0, 0.00] # orientation, position
|
||||
terminal: False
|
||||
|
||||
|
||||
bound_cfg:
|
||||
weight: 000.0
|
||||
activation_distance: [0.0,0.0,0.0,0.0]
|
||||
|
||||
constraint:
|
||||
primitive_collision_cfg:
|
||||
weight: 2000.0
|
||||
use_sweep: False
|
||||
classify: True
|
||||
self_collision_cfg:
|
||||
weight: 1000.0
|
||||
classify: True
|
||||
bound_cfg:
|
||||
weight: [5000.0, 5000.0, 5000.0,5000.0]
|
||||
activation_distance: [0.0,0.0,0.0,0.0] # for position, velocity, acceleration and jerk
|
||||
|
||||
|
||||
convergence:
|
||||
pose_cfg:
|
||||
vec_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
|
||||
weight: [1.0, 1.0]
|
||||
vec_convergence: [0.0, 0.00] # orientation, position
|
||||
terminal: False
|
||||
|
||||
cspace_cfg:
|
||||
weight: 1.0
|
||||
terminal: True
|
||||
run_weight: 1.0
|
||||
null_space_cfg:
|
||||
weight: 1.0
|
||||
terminal: True
|
||||
run_weight: 1.0
|
||||
|
||||
|
||||
97
src/curobo/content/configs/task/finetune_trajopt.yml
Normal file
97
src/curobo/content/configs/task/finetune_trajopt.yml
Normal file
@@ -0,0 +1,97 @@
|
||||
|
||||
##
|
||||
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
||||
##
|
||||
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
||||
## property and proprietary rights in and to this material, related
|
||||
## documentation and any modifications thereto. Any use, reproduction,
|
||||
## disclosure or distribution of this material and related documentation
|
||||
## without an express license agreement from NVIDIA CORPORATION or
|
||||
## its affiliates is strictly prohibited.
|
||||
##
|
||||
|
||||
model:
|
||||
horizon: 32
|
||||
state_filter_cfg:
|
||||
filter_coeff:
|
||||
position: 1.0
|
||||
velocity: 1.0
|
||||
acceleration: 1.0
|
||||
enable: False
|
||||
dt_traj_params:
|
||||
base_dt: 0.2
|
||||
base_ratio: 1.0
|
||||
max_dt: 0.2
|
||||
vel_scale: 1.0
|
||||
control_space: 'POSITION'
|
||||
state_finite_difference_mode: "CENTRAL"
|
||||
|
||||
teleport_mode: False
|
||||
return_full_act_buffer: True
|
||||
cost:
|
||||
pose_cfg:
|
||||
vec_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0] # orientation, position for all timesteps
|
||||
run_vec_weight: [1.00,1.0,1.0,1.0,1.0,1.0] # running weight orientation, position
|
||||
weight: [5000,30000.0,50,70] #[150.0, 2000.0, 30, 40]
|
||||
vec_convergence: [0.0,0.0] # orientation, position, orientation metric activation, position metric activation
|
||||
terminal: True
|
||||
run_weight: 0.0
|
||||
use_metric: True
|
||||
|
||||
cspace_cfg:
|
||||
weight: 10000.0
|
||||
terminal: True
|
||||
run_weight: 0.00 #1
|
||||
|
||||
bound_cfg:
|
||||
weight: [5000.0, 5000.0, 5000.0, 5000.0] # needs to be 3 values
|
||||
smooth_weight: [0.0,1000.0, 500.0, 0.0] # [vel, acc, jerk,]
|
||||
run_weight_velocity: 0.0
|
||||
run_weight_acceleration: 1.0
|
||||
run_weight_jerk: 1.0
|
||||
activation_distance: [0.1,0.1,0.1,10.0] # for position, velocity, acceleration and jerk
|
||||
null_space_weight: [1.0]
|
||||
|
||||
primitive_collision_cfg:
|
||||
weight: 50000.0
|
||||
use_sweep: True
|
||||
sweep_steps: 6
|
||||
classify: False
|
||||
use_sweep_kernel: True
|
||||
use_speed_metric: True
|
||||
speed_dt: 0.01 # used only for speed metric
|
||||
activation_distance: 0.025
|
||||
|
||||
self_collision_cfg:
|
||||
weight: 5000.0
|
||||
classify: False
|
||||
|
||||
|
||||
|
||||
lbfgs:
|
||||
n_iters: 300 #125 #@200 #250 #250 # 150 #25
|
||||
inner_iters: 25 #$25 # 25
|
||||
cold_start_n_iters: 300 #125 #200 #250 #$150 #25
|
||||
min_iters: 25
|
||||
line_search_scale: [0.01,0.3,0.7,1.0] # #
|
||||
fixed_iters: False
|
||||
cost_convergence: 0.01
|
||||
cost_delta_threshold: 10.0 #10.0 # 5.0 #2.0
|
||||
cost_relative_threshold: 0.999 #0.999
|
||||
epsilon: 0.01
|
||||
history: 4 #15
|
||||
use_cuda_graph: True
|
||||
n_envs: 1
|
||||
store_debug: False
|
||||
use_cuda_kernel: True
|
||||
stable_mode: True
|
||||
line_search_type: "approx_wolfe"
|
||||
use_cuda_line_search_kernel: True
|
||||
use_cuda_update_best_kernel: True
|
||||
use_temporal_smooth: False
|
||||
sync_cuda_time: True
|
||||
step_scale: 1.0
|
||||
last_best: 5
|
||||
use_coo_sparse: True
|
||||
debug_info:
|
||||
visual_traj : null #'ee_pos_seq'
|
||||
81
src/curobo/content/configs/task/gradient_ik.yml
Normal file
81
src/curobo/content/configs/task/gradient_ik.yml
Normal file
@@ -0,0 +1,81 @@
|
||||
##
|
||||
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
||||
##
|
||||
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
||||
## property and proprietary rights in and to this material, related
|
||||
## documentation and any modifications thereto. Any use, reproduction,
|
||||
## disclosure or distribution of this material and related documentation
|
||||
## without an express license agreement from NVIDIA CORPORATION or
|
||||
## its affiliates is strictly prohibited.
|
||||
##
|
||||
|
||||
model:
|
||||
horizon: 1
|
||||
state_filter_cfg:
|
||||
filter_coeff:
|
||||
position: 1.0
|
||||
velocity: 1.0
|
||||
acceleration: 0.0
|
||||
|
||||
enable: False
|
||||
dt_traj_params:
|
||||
base_dt: 0.02
|
||||
base_ratio: 1.0
|
||||
max_dt: 0.25
|
||||
vel_scale: 1.0
|
||||
control_space: 'POSITION'
|
||||
teleport_mode: True
|
||||
cost:
|
||||
pose_cfg:
|
||||
vec_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
|
||||
#weight: [100, 500, 10, 20]
|
||||
weight: [500, 5000, 30, 30]
|
||||
vec_convergence: [0.00, 0.000]
|
||||
terminal: False
|
||||
use_metric: True
|
||||
|
||||
cspace_cfg:
|
||||
weight: 0.000
|
||||
bound_cfg:
|
||||
weight: 50.0
|
||||
activation_distance: [0.1]
|
||||
null_space_weight: [1.0]
|
||||
primitive_collision_cfg:
|
||||
weight: 1000.0
|
||||
use_sweep: False
|
||||
classify: False
|
||||
activation_distance: 0.025
|
||||
self_collision_cfg:
|
||||
weight: 1000.0
|
||||
classify: False
|
||||
|
||||
|
||||
lbfgs:
|
||||
n_iters: 80 #60
|
||||
inner_iters: 20
|
||||
cold_start_n_iters: 80
|
||||
min_iters: 20
|
||||
line_search_scale: [0.01, 0.3, 0.7, 1.0] #[0.01,0.4, 0.9, 1.0] # #
|
||||
fixed_iters: True
|
||||
cost_convergence: 1e-7
|
||||
cost_delta_threshold: 1e-6 #0.0001
|
||||
cost_relative_threshold: 1.0
|
||||
epsilon: 0.01 # used only in stable_mode
|
||||
history: 4
|
||||
horizon: 1
|
||||
use_cuda_graph: True
|
||||
n_envs: 1
|
||||
store_debug: False
|
||||
use_cuda_kernel: True
|
||||
stable_mode: True
|
||||
line_search_type: "approx_wolfe" #"wolfe"
|
||||
use_cuda_line_search_kernel: True
|
||||
use_cuda_update_best_kernel: True
|
||||
sync_cuda_time: True
|
||||
step_scale: 1.0
|
||||
use_coo_sparse: True
|
||||
last_best: 10
|
||||
debug_info:
|
||||
visual_traj : null #'ee_pos_seq'
|
||||
|
||||
|
||||
99
src/curobo/content/configs/task/gradient_mpc.yml
Normal file
99
src/curobo/content/configs/task/gradient_mpc.yml
Normal file
@@ -0,0 +1,99 @@
|
||||
##
|
||||
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
||||
##
|
||||
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
||||
## property and proprietary rights in and to this material, related
|
||||
## documentation and any modifications thereto. Any use, reproduction,
|
||||
## disclosure or distribution of this material and related documentation
|
||||
## without an express license agreement from NVIDIA CORPORATION or
|
||||
## its affiliates is strictly prohibited.
|
||||
##
|
||||
|
||||
model:
|
||||
horizon: 40
|
||||
state_filter_cfg:
|
||||
filter_coeff:
|
||||
position: 0.0
|
||||
velocity: 0.0
|
||||
acceleration: 0.0
|
||||
enable: True
|
||||
dt_traj_params:
|
||||
base_dt: 0.02
|
||||
base_ratio: 0.5
|
||||
max_dt: 0.02
|
||||
vel_scale: 1.0
|
||||
control_space: 'POSITION'
|
||||
teleport_mode: False
|
||||
state_finite_difference_mode: "CENTRAL"
|
||||
|
||||
cost:
|
||||
pose_cfg:
|
||||
vec_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0] # orientation, position for all timesteps
|
||||
run_vec_weight: [1.00,1.00,1.00,1.0,1.0,1.0] # running weight orientation, position
|
||||
weight: [500,2000.0,10,10] #[150.0, 2000.0, 30, 40]
|
||||
vec_convergence: [0.0,0.0] #[0.001,0.0001] #[0.01, 0.001] # orientation, position
|
||||
terminal: True
|
||||
run_weight: 0.1
|
||||
use_metric: True
|
||||
|
||||
cspace_cfg:
|
||||
weight: 00.0
|
||||
terminal: True
|
||||
run_weight: 1.0
|
||||
|
||||
bound_cfg:
|
||||
weight: [50.0, 0.0,0.0,0.0]
|
||||
activation_distance: [0.1,0.1,0.1,0.1] # for position, velocity, acceleration and jerk
|
||||
smooth_weight: [0.0, 100.0, 0.0,0.0] # [vel, acc, jerk, alpha_vel, eta_position, eta_vel, eta_acc]
|
||||
run_weight_velocity: 0.0
|
||||
run_weight_acceleration: 1.0
|
||||
run_weight_jerk: 1.0
|
||||
primitive_collision_cfg:
|
||||
weight: 500.0
|
||||
use_sweep: True
|
||||
sweep_steps: 4
|
||||
classify: False
|
||||
use_sweep_kernel: True
|
||||
use_speed_metric: False
|
||||
speed_dt: 0.1 # used only for speed metric
|
||||
activation_distance: 0.025
|
||||
self_collision_cfg:
|
||||
weight: 500.0
|
||||
classify: False
|
||||
|
||||
null_space_cfg:
|
||||
weight: 0.1
|
||||
terminal: True
|
||||
run_weight: 1.0
|
||||
use_null_space: True
|
||||
|
||||
stop_cfg:
|
||||
weight: 10.0 #50.0
|
||||
max_nlimit: 0.5 #0.2
|
||||
|
||||
lbfgs:
|
||||
n_iters: 150 #125 #@200 #250 #250 # 150 #25
|
||||
inner_iters: 25
|
||||
cold_start_n_iters: 500 #125 #200 #250 #$150 #25
|
||||
min_iters: 50
|
||||
line_search_scale: [0.01,0.25, 0.75,1.0] #[0.01,0.25,0.7, 1.0] # [0.01, 0.8, 1.0] #
|
||||
fixed_iters: True
|
||||
cost_convergence: 0.01
|
||||
cost_delta_threshold: 0.0001
|
||||
epsilon: 0.01
|
||||
history: 6 #15
|
||||
use_cuda_graph: True
|
||||
n_envs: 1
|
||||
store_debug: False
|
||||
use_cuda_kernel: True
|
||||
stable_mode: True
|
||||
line_search_type: "approx_wolfe" #"strong_wolfe" #"strong_wolfe"
|
||||
use_cuda_line_search_kernel: True
|
||||
use_cuda_update_best_kernel: True
|
||||
sync_cuda_time: True
|
||||
use_temporal_smooth: False
|
||||
last_best: 26
|
||||
step_scale: 1.0
|
||||
use_coo_sparse: True
|
||||
debug_info:
|
||||
visual_traj : null #'ee_pos_seq'
|
||||
98
src/curobo/content/configs/task/gradient_trajopt.yml
Normal file
98
src/curobo/content/configs/task/gradient_trajopt.yml
Normal file
@@ -0,0 +1,98 @@
|
||||
|
||||
##
|
||||
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
||||
##
|
||||
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
||||
## property and proprietary rights in and to this material, related
|
||||
## documentation and any modifications thereto. Any use, reproduction,
|
||||
## disclosure or distribution of this material and related documentation
|
||||
## without an express license agreement from NVIDIA CORPORATION or
|
||||
## its affiliates is strictly prohibited.
|
||||
##
|
||||
|
||||
model:
|
||||
horizon: 32
|
||||
state_filter_cfg:
|
||||
filter_coeff:
|
||||
position: 1.0
|
||||
velocity: 1.0
|
||||
acceleration: 1.0
|
||||
enable: False
|
||||
dt_traj_params:
|
||||
base_dt: 0.2
|
||||
base_ratio: 1.0
|
||||
max_dt: 0.2
|
||||
vel_scale: 1.0
|
||||
control_space: 'POSITION'
|
||||
state_finite_difference_mode: "CENTRAL"
|
||||
teleport_mode: False
|
||||
return_full_act_buffer: True
|
||||
|
||||
cost:
|
||||
pose_cfg:
|
||||
vec_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0] # orientation, position for all timesteps
|
||||
run_vec_weight: [1.00,1.00,1.00,1.0,1.0,1.0] # running weight orientation, position
|
||||
weight: [2000,20000.0,30,30] #[150.0, 2000.0, 30, 40]
|
||||
vec_convergence: [0.0,0.0] # orientation, position, orientation metric activation, position metric activation
|
||||
terminal: True
|
||||
run_weight: 0.0 #0.05
|
||||
use_metric: True
|
||||
|
||||
cspace_cfg:
|
||||
weight: 10000.0
|
||||
terminal: True
|
||||
run_weight: 0.00 #1
|
||||
|
||||
bound_cfg:
|
||||
weight: [5000.0, 5000.0, 5000.0,5000.0] # needs to be 3 values
|
||||
smooth_weight: [0.0,3000.0,10.0, 0.0] # [vel, acc, jerk,]
|
||||
run_weight_velocity: 0.00
|
||||
run_weight_acceleration: 1.0
|
||||
run_weight_jerk: 1.0
|
||||
activation_distance: [0.1,0.1,0.1,10.0] # for position, velocity, acceleration and jerk
|
||||
null_space_weight: [1.0]
|
||||
|
||||
primitive_collision_cfg:
|
||||
weight: 10000.0
|
||||
use_sweep: True
|
||||
sweep_steps: 4
|
||||
classify: False
|
||||
use_sweep_kernel: True
|
||||
use_speed_metric: True
|
||||
speed_dt: 0.01 # used only for speed metric
|
||||
activation_distance: 0.025
|
||||
|
||||
|
||||
self_collision_cfg:
|
||||
weight: 5000.0
|
||||
classify: False
|
||||
|
||||
|
||||
|
||||
lbfgs:
|
||||
n_iters: 100 #125 #@200 #250 #250 # 150 #25
|
||||
inner_iters: 25 #25 # 25
|
||||
cold_start_n_iters: 100 #125 #200 #250 #$150 #25
|
||||
min_iters: 25
|
||||
line_search_scale: [0.01,0.3,0.7,1.0] #[0.01,0.2, 0.3,0.5,0.7,0.9, 1.0] #
|
||||
fixed_iters: False
|
||||
cost_convergence: 0.01
|
||||
cost_delta_threshold: 1.0
|
||||
cost_relative_threshold: 0.9999
|
||||
epsilon: 0.01
|
||||
history: 4 #15 #$14
|
||||
use_cuda_graph: True
|
||||
n_envs: 1
|
||||
store_debug: False
|
||||
use_cuda_kernel: True
|
||||
stable_mode: True
|
||||
line_search_type: "approx_wolfe"
|
||||
use_cuda_line_search_kernel: True
|
||||
use_cuda_update_best_kernel: True
|
||||
use_temporal_smooth: False
|
||||
sync_cuda_time: True
|
||||
step_scale: 1.0 #1.0
|
||||
last_best: 5
|
||||
use_coo_sparse: True
|
||||
debug_info:
|
||||
visual_traj : null #'ee_pos_seq'
|
||||
53
src/curobo/content/configs/task/graph.yml
Normal file
53
src/curobo/content/configs/task/graph.yml
Normal file
@@ -0,0 +1,53 @@
|
||||
##
|
||||
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
||||
##
|
||||
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
||||
## property and proprietary rights in and to this material, related
|
||||
## documentation and any modifications thereto. Any use, reproduction,
|
||||
## disclosure or distribution of this material and related documentation
|
||||
## without an express license agreement from NVIDIA CORPORATION or
|
||||
## its affiliates is strictly prohibited.
|
||||
##
|
||||
model:
|
||||
horizon: 1
|
||||
state_filter_cfg:
|
||||
filter_coeff:
|
||||
position: 1.0
|
||||
velocity: 1.0
|
||||
acceleration: 0.0
|
||||
enable: True
|
||||
dt_traj_params:
|
||||
base_dt: 0.02
|
||||
base_ratio: 1.0
|
||||
max_dt: 0.02
|
||||
vel_scale: 1.0
|
||||
control_space: 'POSITION'
|
||||
teleport_mode: True
|
||||
state_finite_difference_mode: "CENTRAL"
|
||||
|
||||
|
||||
|
||||
graph:
|
||||
max_nodes: 5000 # node list
|
||||
steer_delta_buffer: 500 # for steering
|
||||
sample_pts: 1500
|
||||
node_similarity_distance: 0.1
|
||||
|
||||
rejection_ratio: 20 #$20
|
||||
k_nn: 15
|
||||
max_buffer: 10000
|
||||
max_cg_buffer: 1000
|
||||
vertex_n : 30
|
||||
|
||||
graph_max_attempts: 10
|
||||
graph_min_attempts: 1
|
||||
init_nodes: 30
|
||||
|
||||
c_max: 1.25
|
||||
use_bias_node: True
|
||||
compute_metrics: False
|
||||
interpolation_steps: 1000
|
||||
interpolation_type: "linear"
|
||||
seed: 0
|
||||
interpolation_deviation: 0.05
|
||||
interpolation_acceleration_scale: 0.25
|
||||
81
src/curobo/content/configs/task/particle_ik.yml
Normal file
81
src/curobo/content/configs/task/particle_ik.yml
Normal file
@@ -0,0 +1,81 @@
|
||||
##
|
||||
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
||||
##
|
||||
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
||||
## property and proprietary rights in and to this material, related
|
||||
## documentation and any modifications thereto. Any use, reproduction,
|
||||
## disclosure or distribution of this material and related documentation
|
||||
## without an express license agreement from NVIDIA CORPORATION or
|
||||
## its affiliates is strictly prohibited.
|
||||
##
|
||||
|
||||
model:
|
||||
horizon: 1
|
||||
state_filter_cfg:
|
||||
filter_coeff:
|
||||
position: 1.0
|
||||
velocity: 1.0
|
||||
acceleration: 0.0
|
||||
enable: False
|
||||
dt_traj_params:
|
||||
base_dt: 0.02
|
||||
base_ratio: 1.0
|
||||
max_dt: 0.25
|
||||
vel_scale: 1.0
|
||||
control_space: 'POSITION'
|
||||
teleport_mode: True
|
||||
cost:
|
||||
pose_cfg:
|
||||
vec_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
|
||||
weight: [30, 50, 10, 10] #[20.0, 100.0]
|
||||
vec_convergence: [0.00, 0.000] # orientation, position
|
||||
terminal: False
|
||||
use_metric: True
|
||||
cspace_cfg:
|
||||
weight: 0.00
|
||||
bound_cfg:
|
||||
weight: 5000.0
|
||||
activation_distance: [0.05]
|
||||
primitive_collision_cfg:
|
||||
weight: 500.0
|
||||
use_sweep: False
|
||||
classify: False
|
||||
activation_distance: 0.035
|
||||
self_collision_cfg:
|
||||
weight: 500.0
|
||||
classify: False
|
||||
|
||||
|
||||
mppi:
|
||||
init_cov : 1.0 #0.15 #.5 #.5
|
||||
gamma : 1.0
|
||||
n_iters : 4
|
||||
cold_start_n_iters: 4
|
||||
step_size_mean : 0.9
|
||||
step_size_cov : 0.1
|
||||
beta : 0.01
|
||||
alpha : 1
|
||||
num_particles : 25 #10000
|
||||
update_cov : True
|
||||
cov_type : "DIAG_A" #
|
||||
kappa : 0.01
|
||||
null_act_frac : 0.0
|
||||
sample_mode : 'BEST'
|
||||
base_action : 'REPEAT'
|
||||
squash_fn : 'CLAMP'
|
||||
n_envs : 1
|
||||
use_cuda_graph : True
|
||||
seed : 0
|
||||
store_debug : False
|
||||
random_mean : False
|
||||
sample_per_env : True
|
||||
sync_cuda_time : False
|
||||
use_coo_sparse : True
|
||||
sample_params:
|
||||
fixed_samples: True
|
||||
sample_ratio: {'halton':1.0, 'halton-knot':0.0, 'random':0.0, 'random-knot':0.0}
|
||||
seed: 23
|
||||
filter_coeffs: [0.0, 0.0, 1.0]
|
||||
n_knots: 5
|
||||
debug_info:
|
||||
visual_traj : null #'state_seq'
|
||||
107
src/curobo/content/configs/task/particle_mpc.yml
Normal file
107
src/curobo/content/configs/task/particle_mpc.yml
Normal file
@@ -0,0 +1,107 @@
|
||||
##
|
||||
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
||||
##
|
||||
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
||||
## property and proprietary rights in and to this material, related
|
||||
## documentation and any modifications thereto. Any use, reproduction,
|
||||
## disclosure or distribution of this material and related documentation
|
||||
## without an express license agreement from NVIDIA CORPORATION or
|
||||
## its affiliates is strictly prohibited.
|
||||
##
|
||||
|
||||
model:
|
||||
horizon: 30
|
||||
state_filter_cfg:
|
||||
filter_coeff:
|
||||
position: 0.1
|
||||
velocity: 0.1
|
||||
acceleration: 0.0
|
||||
enable: True
|
||||
dt_traj_params:
|
||||
base_dt: 0.01
|
||||
base_ratio: 0.5
|
||||
max_dt: 0.04
|
||||
vel_scale: 1.0
|
||||
control_space: 'ACCELERATION'
|
||||
teleport_mode: False
|
||||
state_finite_difference_mode: "CENTRAL"
|
||||
|
||||
|
||||
cost:
|
||||
pose_cfg:
|
||||
vec_weight: [1.0,1.0, 1.0, 1.0, 1.0, 1.0]
|
||||
run_vec_weight: [1.0,1.0, 1.0, 1.0, 1.0, 1.0]
|
||||
weight: [60,300.0,20,20] #[150.0, 2000.0, 30, 40]
|
||||
vec_convergence: [0.0, 0.00] # orientation, position
|
||||
terminal: True
|
||||
run_weight: 1.0
|
||||
use_metric: True
|
||||
|
||||
cspace_cfg:
|
||||
weight: 500.0
|
||||
terminal: True
|
||||
run_weight: 1.0
|
||||
|
||||
bound_cfg:
|
||||
weight: [5000.0, 5000.0,5000.0,000.0]
|
||||
activation_distance: [0.1,0.1,0.1,0.1] # for position, velocity, acceleration and jerk
|
||||
smooth_weight: [0.0, 50.0, 0.0,0.0] # [vel, acc, jerk, alpha_vel, eta_position, eta_vel, eta_acc]
|
||||
run_weight_velocity: 0.0
|
||||
run_weight_acceleration: 1.0
|
||||
run_weight_jerk: 1.0
|
||||
null_space_weight: [10.0]
|
||||
|
||||
primitive_collision_cfg:
|
||||
weight: 100000.0
|
||||
use_sweep: True
|
||||
sweep_steps: 4
|
||||
classify: False
|
||||
use_sweep_kernel: True
|
||||
use_speed_metric: False
|
||||
speed_dt: 0.1 # used only for speed metric
|
||||
activation_distance: 0.025
|
||||
|
||||
self_collision_cfg:
|
||||
weight: 50000.0
|
||||
classify: False
|
||||
|
||||
|
||||
stop_cfg:
|
||||
weight: 100.0 #50.0
|
||||
max_nlimit: 0.25 #0.2
|
||||
|
||||
|
||||
|
||||
mppi:
|
||||
init_cov : 0.05 #.5 #.5
|
||||
gamma : 0.98
|
||||
n_iters : 5
|
||||
cold_start_n_iters: 5
|
||||
step_size_mean : 0.9
|
||||
step_size_cov : 0.01
|
||||
beta : 0.1
|
||||
alpha : 1
|
||||
num_particles : 400 #10000
|
||||
update_cov : True
|
||||
cov_type : "DIAG_A" #
|
||||
kappa : 0.0001
|
||||
null_act_frac : 0.05
|
||||
sample_mode : 'BEST'
|
||||
base_action : 'REPEAT'
|
||||
squash_fn : 'CLAMP'
|
||||
n_envs : 1
|
||||
use_cuda_graph : True
|
||||
seed : 0
|
||||
store_debug : False
|
||||
random_mean : True
|
||||
sample_per_env : False
|
||||
sync_cuda_time : True
|
||||
use_coo_sparse : True
|
||||
sample_params:
|
||||
fixed_samples: True
|
||||
sample_ratio: {'halton':0.3, 'halton-knot':0.7, 'random':0.0, 'random-knot':0.0}
|
||||
seed: 0
|
||||
filter_coeffs: [0.3, 0.3, 0.4]
|
||||
n_knots: 5
|
||||
debug_info:
|
||||
visual_traj : 'ee_pos_seq'
|
||||
104
src/curobo/content/configs/task/particle_trajopt.yml
Normal file
104
src/curobo/content/configs/task/particle_trajopt.yml
Normal file
@@ -0,0 +1,104 @@
|
||||
##
|
||||
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
||||
##
|
||||
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
||||
## property and proprietary rights in and to this material, related
|
||||
## documentation and any modifications thereto. Any use, reproduction,
|
||||
## disclosure or distribution of this material and related documentation
|
||||
## without an express license agreement from NVIDIA CORPORATION or
|
||||
## its affiliates is strictly prohibited.
|
||||
##
|
||||
|
||||
model:
|
||||
horizon: 32
|
||||
state_filter_cfg:
|
||||
filter_coeff:
|
||||
position: 1.0
|
||||
velocity: 1.0
|
||||
acceleration: 1.0
|
||||
enable: False
|
||||
dt_traj_params:
|
||||
base_dt: 0.2
|
||||
base_ratio: 1.0
|
||||
max_dt: 0.2
|
||||
vel_scale: 1.0
|
||||
control_space: 'POSITION'
|
||||
teleport_mode: False
|
||||
return_full_act_buffer: True
|
||||
state_finite_difference_mode: "CENTRAL"
|
||||
|
||||
cost:
|
||||
pose_cfg:
|
||||
vec_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
|
||||
run_vec_weight: [1.0,1.0,1.0,1.0,1.0,1.0] # running weight
|
||||
weight: [250.0, 5000.0, 40, 40]
|
||||
vec_convergence: [0.0,0.0,1000.0,1000.0]
|
||||
terminal: True
|
||||
run_weight: 0.00
|
||||
use_metric: True
|
||||
|
||||
cspace_cfg:
|
||||
weight: 500.0
|
||||
terminal: True
|
||||
run_weight: 0.001
|
||||
|
||||
bound_cfg:
|
||||
weight: [0.1, 0.1,0.0,0.0]
|
||||
activation_distance: [0.0,0.0,0.0,0.0] #-#0.01
|
||||
smooth_weight: [0.0,100.0,1.0,0.0]
|
||||
run_weight_velocity: 0.0
|
||||
run_weight_acceleration: 1.0
|
||||
run_weight_jerk: 1.0
|
||||
|
||||
primitive_collision_cfg:
|
||||
weight: 5000.0
|
||||
use_sweep: True
|
||||
classify: False
|
||||
sweep_steps: 4
|
||||
use_sweep_kernel: True
|
||||
use_speed_metric: True
|
||||
speed_dt: 0.01 # used only for speed metric
|
||||
activation_distance: 0.025
|
||||
|
||||
self_collision_cfg:
|
||||
weight: 500.0
|
||||
classify: False
|
||||
|
||||
|
||||
|
||||
|
||||
mppi:
|
||||
init_cov : 0.1 #0.5
|
||||
gamma : 1.0
|
||||
n_iters : 2
|
||||
cold_start_n_iters: 2
|
||||
step_size_mean : 0.9
|
||||
step_size_cov : 0.01
|
||||
beta : 0.01
|
||||
alpha : 1
|
||||
num_particles : 25 # 100
|
||||
update_cov : True
|
||||
cov_type : "DIAG_A" #
|
||||
kappa : 0.001
|
||||
null_act_frac : 0.0
|
||||
sample_mode : 'BEST'
|
||||
base_action : 'REPEAT'
|
||||
squash_fn : 'CLAMP'
|
||||
n_envs : 1
|
||||
use_cuda_graph : True
|
||||
seed : 0
|
||||
store_debug : False
|
||||
random_mean : True
|
||||
sample_per_env : True
|
||||
sync_cuda_time : False
|
||||
use_coo_sparse : True
|
||||
sample_params:
|
||||
fixed_samples: True
|
||||
sample_ratio: {'halton':0.0, 'halton-knot':0.0, 'random':0.0, 'random-knot':0.0, "stomp": 1.0}
|
||||
seed: 25
|
||||
filter_coeffs: [0.3, 0.3, 0.4]
|
||||
n_knots: 5
|
||||
debug_info:
|
||||
visual_traj : null #'ee_pos_seq'
|
||||
|
||||
|
||||
14
src/curobo/content/configs/world/collision_base.yml
Normal file
14
src/curobo/content/configs/world/collision_base.yml
Normal file
@@ -0,0 +1,14 @@
|
||||
##
|
||||
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
||||
##
|
||||
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
||||
## property and proprietary rights in and to this material, related
|
||||
## documentation and any modifications thereto. Any use, reproduction,
|
||||
## disclosure or distribution of this material and related documentation
|
||||
## without an express license agreement from NVIDIA CORPORATION or
|
||||
## its affiliates is strictly prohibited.
|
||||
##
|
||||
cuboid:
|
||||
table:
|
||||
dims: [0.1, 0.1, 0.8] # x, y, z
|
||||
pose: [0.0, 0.0, -0.45, 1, 0, 0, 0.0] # x, y, z, qw, qx, qy, qz
|
||||
116
src/curobo/content/configs/world/collision_cage.yml
Normal file
116
src/curobo/content/configs/world/collision_cage.yml
Normal file
@@ -0,0 +1,116 @@
|
||||
##
|
||||
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
||||
##
|
||||
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
||||
## property and proprietary rights in and to this material, related
|
||||
## documentation and any modifications thereto. Any use, reproduction,
|
||||
## disclosure or distribution of this material and related documentation
|
||||
## without an express license agreement from NVIDIA CORPORATION or
|
||||
## its affiliates is strictly prohibited.
|
||||
##
|
||||
|
||||
cuboid:
|
||||
cube0:
|
||||
dims:
|
||||
- 0.44759031573031055
|
||||
- 0.6041613589568638
|
||||
- 0.04
|
||||
pose:
|
||||
- 0.5368277748379187
|
||||
- 0.5609131160539919
|
||||
- -0.21207545174379683
|
||||
- 0.8967553371515242
|
||||
- 0.0
|
||||
- 0.0
|
||||
- -0.44252668313928384
|
||||
cube1:
|
||||
dims:
|
||||
- 0.04
|
||||
- 0.6441613589568638
|
||||
- 0.507432552596414
|
||||
pose:
|
||||
- 0.4043908894165481
|
||||
- 0.7665743675779062
|
||||
- 0.02164082455441016
|
||||
- 0.8967553371515242
|
||||
- 0.0
|
||||
- 0.0
|
||||
- -0.44252668313928384
|
||||
cube2:
|
||||
dims:
|
||||
- 0.04
|
||||
- 0.6441613589568638
|
||||
- 0.507432552596414
|
||||
pose:
|
||||
- 0.7010117134542583
|
||||
- 0.37958547530685705
|
||||
- 0.02164082455441016
|
||||
- 0.8967553371515242
|
||||
- 0.0
|
||||
- 0.0
|
||||
- -0.44252668313928384
|
||||
cube3:
|
||||
dims:
|
||||
- 0.5275903157303106
|
||||
- 0.04
|
||||
- 0.04
|
||||
pose:
|
||||
- 0.2811999632260791
|
||||
- 0.36497846872527095
|
||||
- -0.07378708334618755
|
||||
- 0.8967553371515242
|
||||
- 0.0
|
||||
- 0.0
|
||||
- -0.44252668313928384
|
||||
cube4:
|
||||
dims:
|
||||
- 0.5275903157303106
|
||||
- 0.04
|
||||
- 0.04
|
||||
pose:
|
||||
- 0.2811999632260791
|
||||
- 0.36497846872527095
|
||||
- 0.1293126754499218
|
||||
- 0.8967553371515242
|
||||
- 0.0
|
||||
- 0.0
|
||||
- -0.44252668313928384
|
||||
cube5:
|
||||
dims:
|
||||
- 0.44759031573031055
|
||||
- 0.42891295126980467
|
||||
- 0.04
|
||||
pose:
|
||||
- 0.6381200845475716
|
||||
- 0.6385520586046123
|
||||
- 0.25535710085261715
|
||||
- 0.8967553371515242
|
||||
- 0.0
|
||||
- 0.0
|
||||
- -0.44252668313928384
|
||||
cube6:
|
||||
dims:
|
||||
- 0.44759031573031055
|
||||
- 0.04
|
||||
- 0.467432552596414
|
||||
pose:
|
||||
- 0.7924555864497582
|
||||
- 0.7568477633827128
|
||||
- 0.0016408245544101419
|
||||
- 0.8967553371515242
|
||||
- 0.0
|
||||
- 0.0
|
||||
- -0.44252668313928384
|
||||
cube7:
|
||||
dims:
|
||||
- 0.25
|
||||
- 0.2
|
||||
- 0.5
|
||||
pose:
|
||||
- -0.05
|
||||
- 0.0
|
||||
- -0.25
|
||||
- 1.0
|
||||
- 0.0
|
||||
- 0.0
|
||||
- 0.0
|
||||
58
src/curobo/content/configs/world/collision_cubby.yml
Normal file
58
src/curobo/content/configs/world/collision_cubby.yml
Normal file
@@ -0,0 +1,58 @@
|
||||
##
|
||||
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
||||
##
|
||||
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
||||
## property and proprietary rights in and to this material, related
|
||||
## documentation and any modifications thereto. Any use, reproduction,
|
||||
## disclosure or distribution of this material and related documentation
|
||||
## without an express license agreement from NVIDIA CORPORATION or
|
||||
## its affiliates is strictly prohibited.
|
||||
##
|
||||
cuboid:
|
||||
table:
|
||||
dims: [5.2, 5.2, 0.2] # x, y, z
|
||||
pose: [0.0, 0.0, -0.1, 1, 0, 0, 0.0] # x, y, z, qx, qy, qz, qw
|
||||
|
||||
|
||||
|
||||
|
||||
cube4:
|
||||
dims:
|
||||
- 1.5
|
||||
- 0.1
|
||||
- 0.9
|
||||
pose:
|
||||
- -0.65
|
||||
- -0.7248229665483708
|
||||
- 0.552010009365394
|
||||
- 0.9982952839725183
|
||||
- 0.0
|
||||
- 0.0
|
||||
- 0.05836545209478731
|
||||
|
||||
cube51:
|
||||
dims:
|
||||
- 0.10037689095815354
|
||||
- 0.2
|
||||
- 0.9
|
||||
pose:
|
||||
- -0.33
|
||||
- 0.3
|
||||
- 0.53552010009365394
|
||||
- 0.9982952839725183
|
||||
- 0.0
|
||||
- 0.0
|
||||
- 0.05836545209478731
|
||||
cube6:
|
||||
dims:
|
||||
- 0.1
|
||||
- 0.8
|
||||
- 1.6
|
||||
pose:
|
||||
- 0.4
|
||||
- -0.1
|
||||
- 0.3
|
||||
- 0.9982952839725183
|
||||
- 0.0
|
||||
- 0.0
|
||||
- 0.05836545209478731
|
||||
71
src/curobo/content/configs/world/collision_floor_plan.yml
Normal file
71
src/curobo/content/configs/world/collision_floor_plan.yml
Normal file
@@ -0,0 +1,71 @@
|
||||
##
|
||||
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
||||
##
|
||||
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
||||
## property and proprietary rights in and to this material, related
|
||||
## documentation and any modifications thereto. Any use, reproduction,
|
||||
## disclosure or distribution of this material and related documentation
|
||||
## without an express license agreement from NVIDIA CORPORATION or
|
||||
## its affiliates is strictly prohibited.
|
||||
##
|
||||
cuboid:
|
||||
table:
|
||||
dims: [5.2, 5.2, 0.2] # x, y, z
|
||||
pose: [0.0, 0.0, -0.1, 0, 0, 0, 1.0] # x, y, z, qx, qy, qz, qw
|
||||
|
||||
|
||||
|
||||
|
||||
cube4:
|
||||
dims:
|
||||
- 1.5
|
||||
- 0.1
|
||||
- 0.9
|
||||
pose:
|
||||
- -0.65
|
||||
- -0.7248229665483708
|
||||
- 0.552010009365394
|
||||
- 0.9982952839725183
|
||||
- 0.0
|
||||
- 0.0
|
||||
- 0.05836545209478731
|
||||
|
||||
cube51:
|
||||
dims:
|
||||
- 0.10037689095815354
|
||||
- 0.6
|
||||
- 0.9
|
||||
pose:
|
||||
- -0.5
|
||||
- 0.3
|
||||
- 0.53552010009365394
|
||||
- 0.9982952839725183
|
||||
- 0.0
|
||||
- 0.0
|
||||
- 0.05836545209478731
|
||||
cube6:
|
||||
dims:
|
||||
- 0.1
|
||||
- 1.8
|
||||
- 1.6
|
||||
pose:
|
||||
- 0.4
|
||||
- -0.1
|
||||
- 0.3
|
||||
- 0.9982952839725183
|
||||
- 0.0
|
||||
- 0.0
|
||||
- 0.05836545209478731
|
||||
cube61:
|
||||
dims:
|
||||
- 1.5
|
||||
- 0.1
|
||||
- 1.6
|
||||
pose:
|
||||
- -0.4
|
||||
- 0.25
|
||||
- 0.3
|
||||
- 1.0
|
||||
- 0.0
|
||||
- 0.0
|
||||
- 0.0
|
||||
17
src/curobo/content/configs/world/collision_handover.yml
Normal file
17
src/curobo/content/configs/world/collision_handover.yml
Normal file
@@ -0,0 +1,17 @@
|
||||
##
|
||||
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
||||
##
|
||||
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
||||
## property and proprietary rights in and to this material, related
|
||||
## documentation and any modifications thereto. Any use, reproduction,
|
||||
## disclosure or distribution of this material and related documentation
|
||||
## without an express license agreement from NVIDIA CORPORATION or
|
||||
## its affiliates is strictly prohibited.
|
||||
##
|
||||
cuboid:
|
||||
table:
|
||||
dims: [2.0, 2.0, 0.2] # x, y, z
|
||||
pose: [0.0, 0.0, -0.1, 1, 0, 0, 0.0] # x, y, z, qx, qy, qz, qw
|
||||
hand:
|
||||
dims: [0.05, 0.18, 0.15] # x, y, z
|
||||
pose: [0.0, 0.0, -0.3, 1, 0, 0, 0.0] # x, y, z, qx, qy, qz, qw
|
||||
14
src/curobo/content/configs/world/collision_mesh_scene.yml
Normal file
14
src/curobo/content/configs/world/collision_mesh_scene.yml
Normal file
@@ -0,0 +1,14 @@
|
||||
##
|
||||
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
||||
##
|
||||
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
||||
## property and proprietary rights in and to this material, related
|
||||
## documentation and any modifications thereto. Any use, reproduction,
|
||||
## disclosure or distribution of this material and related documentation
|
||||
## without an express license agreement from NVIDIA CORPORATION or
|
||||
## its affiliates is strictly prohibited.
|
||||
##
|
||||
mesh:
|
||||
base_scene:
|
||||
pose: [1.5, 0.080, 1.6, 0.043, -0.471, 0.284, 0.834]
|
||||
file_path: "scene/nvblox/srl_ur10_bins.obj"
|
||||
19
src/curobo/content/configs/world/collision_nvblox.yml
Normal file
19
src/curobo/content/configs/world/collision_nvblox.yml
Normal file
@@ -0,0 +1,19 @@
|
||||
##
|
||||
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
||||
##
|
||||
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
||||
## property and proprietary rights in and to this material, related
|
||||
## documentation and any modifications thereto. Any use, reproduction,
|
||||
## disclosure or distribution of this material and related documentation
|
||||
## without an express license agreement from NVIDIA CORPORATION or
|
||||
## its affiliates is strictly prohibited.
|
||||
##
|
||||
blox:
|
||||
world:
|
||||
pose: [1.5, 0.080, 1.55, 0.043, -0.471, 0.284, 0.834]
|
||||
map_path: "scene/nvblox/srl_ur10_bins.nvblx"
|
||||
mesh_file_path: "scene/nvblox/srl_ur10_bins.obj"
|
||||
integrator_type: "tsdf"
|
||||
voxel_size: 0.03
|
||||
|
||||
|
||||
17
src/curobo/content/configs/world/collision_nvblox_online.yml
Normal file
17
src/curobo/content/configs/world/collision_nvblox_online.yml
Normal file
@@ -0,0 +1,17 @@
|
||||
##
|
||||
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
||||
##
|
||||
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
||||
## property and proprietary rights in and to this material, related
|
||||
## documentation and any modifications thereto. Any use, reproduction,
|
||||
## disclosure or distribution of this material and related documentation
|
||||
## without an express license agreement from NVIDIA CORPORATION or
|
||||
## its affiliates is strictly prohibited.
|
||||
##
|
||||
blox:
|
||||
world:
|
||||
pose: [0,0,0,1,0,0,0]
|
||||
integrator_type: "tsdf"
|
||||
voxel_size: 0.03
|
||||
|
||||
|
||||
36
src/curobo/content/configs/world/collision_nvblox_ur10.yml
Normal file
36
src/curobo/content/configs/world/collision_nvblox_ur10.yml
Normal file
@@ -0,0 +1,36 @@
|
||||
##
|
||||
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
||||
##
|
||||
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
||||
## property and proprietary rights in and to this material, related
|
||||
## documentation and any modifications thereto. Any use, reproduction,
|
||||
## disclosure or distribution of this material and related documentation
|
||||
## without an express license agreement from NVIDIA CORPORATION or
|
||||
## its affiliates is strictly prohibited.
|
||||
##
|
||||
blox:
|
||||
world_map:
|
||||
pose: [-0.38, 0.280, 1.05,0.043, -0.471, 0.284, 0.834]
|
||||
map_path: "scene/nvblox/srl_ur10_bins.nvblx"
|
||||
mesh_file_path: "scene/nvblox/srl_ur10_bins.obj"
|
||||
|
||||
cuboid:
|
||||
case:
|
||||
dims: [0.9, 0.7, 0.4] # x, y, z
|
||||
pose: [0.0, 0.0, -0.6, 1, 0, 0, 0.0] # x, y, z, qx, qy, qz, qw
|
||||
|
||||
stand:
|
||||
dims: [0.3, 0.3, 0.8] # x, y, z
|
||||
pose: [0.0, 0.0, -0.4, 1, 0, 0, 0.0] # x, y, z, qx, qy, qz, qw
|
||||
table:
|
||||
dims: [4.0, 4.0, 0.2] # x, y, z
|
||||
pose: [0.0, 0.0, -0.85, 1, 0, 0, 0.0] # x, y, z, qx, qy, qz, qw
|
||||
|
||||
safety_wall:
|
||||
dims: [2.0, 0.2, 2.0] # x, y, z
|
||||
pose: [0.0, -1.2, 0.0, 1, 0, 0, 0.0] # x, y, z, qx, qy, qz, qw
|
||||
|
||||
|
||||
#safety_wall_ceiling:
|
||||
# dims: [2.0, 2.0, 0.1] # x, y, z
|
||||
# pose: [0.0, 0.0, 1.4, 1, 0, 0, 0.0] # x, y, z, qx, qy, qz, qw
|
||||
60
src/curobo/content/configs/world/collision_pillar_wall.yml
Normal file
60
src/curobo/content/configs/world/collision_pillar_wall.yml
Normal file
@@ -0,0 +1,60 @@
|
||||
##
|
||||
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
||||
##
|
||||
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
||||
## property and proprietary rights in and to this material, related
|
||||
## documentation and any modifications thereto. Any use, reproduction,
|
||||
## disclosure or distribution of this material and related documentation
|
||||
## without an express license agreement from NVIDIA CORPORATION or
|
||||
## its affiliates is strictly prohibited.
|
||||
##
|
||||
|
||||
##
|
||||
cuboid:
|
||||
table:
|
||||
dims: [2.2, 2.2, 0.2] # x, y, z
|
||||
pose: [0.0, 0.0, -0.1, 1, 0, 0, 0.0] # x, y, z, qx, qy, qz, qw
|
||||
color:
|
||||
- 0.6
|
||||
- 0.6
|
||||
- 0.8
|
||||
- 1.0
|
||||
cube6:
|
||||
dims:
|
||||
- 0.05
|
||||
- 0.05
|
||||
- 0.6
|
||||
pose:
|
||||
- 0.4
|
||||
- 0.0
|
||||
- 0.3
|
||||
- 1.0
|
||||
- 0.0
|
||||
- 0.0
|
||||
- 0.0
|
||||
color:
|
||||
- 0.8
|
||||
- 0.0
|
||||
- 0.0
|
||||
- 1.0
|
||||
|
||||
cube4:
|
||||
dims:
|
||||
- 0.05
|
||||
- 0.05
|
||||
- 0.6
|
||||
pose:
|
||||
- -0.6
|
||||
- 0.0
|
||||
- 0.3
|
||||
- 1.0
|
||||
- 0.0
|
||||
- 0.0
|
||||
- 0.0
|
||||
color:
|
||||
- 0.8
|
||||
- 0.0
|
||||
- 0.0
|
||||
- 1.0
|
||||
|
||||
|
||||
39
src/curobo/content/configs/world/collision_primitives_3d.yml
Normal file
39
src/curobo/content/configs/world/collision_primitives_3d.yml
Normal file
@@ -0,0 +1,39 @@
|
||||
##
|
||||
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
||||
##
|
||||
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
||||
## property and proprietary rights in and to this material, related
|
||||
## documentation and any modifications thereto. Any use, reproduction,
|
||||
## disclosure or distribution of this material and related documentation
|
||||
## without an express license agreement from NVIDIA CORPORATION or
|
||||
## its affiliates is strictly prohibited.
|
||||
##
|
||||
cuboid:
|
||||
#cube1:
|
||||
# dims: [0.7, 0.1, 0.4] # x, y, z
|
||||
# pose: [0.6, 0.2, 0.1, 0, 0, 0, 1.0] # x
|
||||
cube2:
|
||||
dims: [0.3, 0.1, 0.5] # x, y, z
|
||||
pose: [0.4, -0.3, 0.2, 1, 0, 0, 0.0] # x
|
||||
cube3:
|
||||
dims: [2.0, 2.0, 0.2] # x, y, z
|
||||
pose: [0.0, 0.0, -0.1, 1, 0, 0, 0.0] # x
|
||||
sphere:
|
||||
sphere1:
|
||||
position: [0.5,0.1,0.1]
|
||||
radius: 0.1
|
||||
sphere2:
|
||||
position: [-0.5,0.1,0.1]
|
||||
radius: 0.1
|
||||
|
||||
capsule:
|
||||
capsule1:
|
||||
radius: 0.1
|
||||
base: [0.0,0.0,0.1]
|
||||
tip: [0.0,0.0,0.5]
|
||||
pose: [0.5,0.0,0.0,1.0,0.0,0.0,0.0]
|
||||
capsule2:
|
||||
radius: 0.1
|
||||
base: [0.0,0.0,0.1]
|
||||
tip: [0.0,0.0,0.5]
|
||||
pose: [0.0,0.5,0.0,1.0,0.0,0.0,0.0]
|
||||
14
src/curobo/content/configs/world/collision_table.yml
Normal file
14
src/curobo/content/configs/world/collision_table.yml
Normal file
@@ -0,0 +1,14 @@
|
||||
##
|
||||
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
||||
##
|
||||
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
||||
## property and proprietary rights in and to this material, related
|
||||
## documentation and any modifications thereto. Any use, reproduction,
|
||||
## disclosure or distribution of this material and related documentation
|
||||
## without an express license agreement from NVIDIA CORPORATION or
|
||||
## its affiliates is strictly prohibited.
|
||||
##
|
||||
cuboid:
|
||||
table:
|
||||
dims: [5.0, 5.0, 0.2] # x, y, z
|
||||
pose: [0.0, 0.0, -0.1, 1, 0, 0, 0.0] # x, y, z, qx, qy, qz, qw
|
||||
37
src/curobo/content/configs/world/collision_test.yml
Normal file
37
src/curobo/content/configs/world/collision_test.yml
Normal file
@@ -0,0 +1,37 @@
|
||||
##
|
||||
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
||||
##
|
||||
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
||||
## property and proprietary rights in and to this material, related
|
||||
## documentation and any modifications thereto. Any use, reproduction,
|
||||
## disclosure or distribution of this material and related documentation
|
||||
## without an express license agreement from NVIDIA CORPORATION or
|
||||
## its affiliates is strictly prohibited.
|
||||
##
|
||||
|
||||
##
|
||||
cuboid:
|
||||
table:
|
||||
dims: [2.2, 2.2, 0.2] # x, y, z
|
||||
pose: [0.0, 0.0, -0.1, 1, 0, 0, 0.0]
|
||||
|
||||
cube6:
|
||||
dims:
|
||||
- 0.1
|
||||
- 0.1
|
||||
- 1.5
|
||||
pose:
|
||||
- 0.4
|
||||
- -0.1
|
||||
- 0.3
|
||||
- 1.0
|
||||
- 0.0
|
||||
- 0.0
|
||||
- 0.0
|
||||
color:
|
||||
- 1.0
|
||||
- 0.0
|
||||
- 0.0
|
||||
- 1.0
|
||||
|
||||
|
||||
72
src/curobo/content/configs/world/collision_thin_walls.yml
Normal file
72
src/curobo/content/configs/world/collision_thin_walls.yml
Normal file
@@ -0,0 +1,72 @@
|
||||
##
|
||||
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
||||
##
|
||||
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
||||
## property and proprietary rights in and to this material, related
|
||||
## documentation and any modifications thereto. Any use, reproduction,
|
||||
## disclosure or distribution of this material and related documentation
|
||||
## without an express license agreement from NVIDIA CORPORATION or
|
||||
## its affiliates is strictly prohibited.
|
||||
##
|
||||
|
||||
##
|
||||
cuboid:
|
||||
table:
|
||||
dims: [2.2, 2.2, 0.2] # x, y, z
|
||||
pose: [0.0, 0.0, -0.1, 1, 0, 0, 0.0] #
|
||||
|
||||
cube6:
|
||||
dims:
|
||||
- 0.05
|
||||
- 0.01
|
||||
- 1.5
|
||||
pose:
|
||||
- 0.4
|
||||
- -0.1
|
||||
- 0.3
|
||||
- 1.0
|
||||
- 0.0
|
||||
- 0.0
|
||||
- 0.0
|
||||
|
||||
cube62:
|
||||
dims:
|
||||
- 0.05
|
||||
- 0.01
|
||||
- 1.5
|
||||
pose:
|
||||
- 0.0
|
||||
- 0.4
|
||||
- 0.3
|
||||
- 1.0
|
||||
- 0.0
|
||||
- 0.0
|
||||
- 0.0
|
||||
cube63:
|
||||
dims:
|
||||
- 0.05
|
||||
- 0.01
|
||||
- 1.5
|
||||
pose:
|
||||
- 0.0
|
||||
- -0.4
|
||||
- 0.3
|
||||
- 1.0
|
||||
- 0.0
|
||||
- 0.0
|
||||
- 0.0
|
||||
|
||||
#cube8:
|
||||
# dims:
|
||||
# - 0.9
|
||||
# - 0.1
|
||||
# - 0.02
|
||||
# pose:
|
||||
# - 0.0
|
||||
# - 0.0
|
||||
# - 0.9
|
||||
# - 1.0
|
||||
# - 0.0
|
||||
# - 0.0
|
||||
# - 0.0
|
||||
|
||||
42
src/curobo/content/configs/world/collision_wall.yml
Normal file
42
src/curobo/content/configs/world/collision_wall.yml
Normal file
@@ -0,0 +1,42 @@
|
||||
##
|
||||
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
||||
##
|
||||
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
||||
## property and proprietary rights in and to this material, related
|
||||
## documentation and any modifications thereto. Any use, reproduction,
|
||||
## disclosure or distribution of this material and related documentation
|
||||
## without an express license agreement from NVIDIA CORPORATION or
|
||||
## its affiliates is strictly prohibited.
|
||||
##
|
||||
|
||||
##
|
||||
cuboid:
|
||||
table:
|
||||
dims: [2.2, 2.2, 0.2] # x, y, z
|
||||
pose: [0.0, 0.0, -0.1, 1, 0, 0, 0.0] # x, y, z, qx, qy, qz, qw
|
||||
color:
|
||||
- 0.6
|
||||
- 0.6
|
||||
- 0.8
|
||||
- 1.0
|
||||
|
||||
cube4:
|
||||
dims:
|
||||
- 0.05
|
||||
- 2.0
|
||||
- 2.0
|
||||
pose:
|
||||
- -0.5
|
||||
- 0.0
|
||||
- 0.3
|
||||
- 1.0
|
||||
- 0.0
|
||||
- 0.0
|
||||
- 0.0
|
||||
color:
|
||||
- 0.6
|
||||
- 0.6
|
||||
- 0.8
|
||||
- 1.0
|
||||
|
||||
|
||||
Reference in New Issue
Block a user