release repository
This commit is contained in:
Balakumar Sundaralingam
@@ -0,0 +1,279 @@
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<?xml version="1.0" ?>
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<robot name="panda" xmlns:xacro="http://www.ros.org/wiki/xacro">
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<link name="base_link"/>
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<joint name="panda_fixed" type="fixed">
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<origin rpy="0 0 0.0" xyz="0 0 0.0"/>
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<parent link="base_link"/>
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<child link="panda_link0"/>
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<axis xyz="0 0 0"/>
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</joint>
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<link name="panda_link0">
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<visual>
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<geometry>
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<mesh filename="meshes/visual/link0.dae"/>
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</geometry>
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</visual>
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<collision>
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<geometry>
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<mesh filename="meshes/collision/link0.obj"/>
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</geometry>
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</collision>
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</link>
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<link name="panda_link1">
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<visual>
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<geometry>
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<mesh filename="meshes/visual/link1.dae"/>
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</geometry>
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</visual>
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<collision>
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<geometry>
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<mesh filename="meshes/collision/link1.obj"/>
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</geometry>
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</collision>
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</link>
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<joint name="panda_joint1" type="revolute">
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<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
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<origin rpy="0 0 0" xyz="0 0 0.333"/>
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<parent link="panda_link0"/>
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<child link="panda_link1"/>
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<axis xyz="0 0 1"/>
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<dynamics damping="10.0"/>
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<limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
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</joint>
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<link name="panda_link2">
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<visual>
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<geometry>
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<mesh filename="meshes/visual/link2.dae"/>
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</geometry>
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</visual>
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<collision>
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<geometry>
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<mesh filename="meshes/collision/link2.obj"/>
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</geometry>
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</collision>
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</link>
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<joint name="panda_joint2" type="revolute">
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<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"/>
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<origin rpy="-1.57079632679 0 0" xyz="0 0 0"/>
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<parent link="panda_link1"/>
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<child link="panda_link2"/>
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<axis xyz="0 0 1"/>
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<dynamics damping="10.0"/>
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<limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750"/>
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</joint>
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<link name="panda_link3">
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<visual>
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<geometry>
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<mesh filename="meshes/visual/link3.dae"/>
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</geometry>
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</visual>
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<collision>
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<geometry>
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<mesh filename="meshes/collision/link3.obj"/>
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</geometry>
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</collision>
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</link>
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<joint name="panda_joint3" type="revolute">
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<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
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<origin rpy="1.57079632679 0 0" xyz="0 -0.316 0"/>
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<parent link="panda_link2"/>
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<child link="panda_link3"/>
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<axis xyz="0 0 1"/>
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<dynamics damping="10.0"/>
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<limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
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</joint>
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<link name="panda_link4">
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<visual>
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<geometry>
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<mesh filename="meshes/visual/link4.dae"/>
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</geometry>
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</visual>
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<collision>
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<geometry>
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<mesh filename="meshes/collision/link4.obj"/>
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</geometry>
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</collision>
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</link>
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<joint name="panda_joint4" type="revolute">
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<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698"/>
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<origin rpy="1.57079632679 0 0" xyz="0.0825 0 0"/>
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<parent link="panda_link3"/>
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<child link="panda_link4"/>
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<axis xyz="0 0 1"/>
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<dynamics damping="10.0"/>
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<limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750"/>
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<!-- something is weird with this joint limit config
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<dynamics damping="10.0"/>
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<limit effort="87" lower="-3.0" upper="0.087" velocity="2.1750"/> -->
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</joint>
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<link name="panda_link5">
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<visual>
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<geometry>
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<mesh filename="meshes/visual/link5.dae"/>
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</geometry>
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</visual>
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<collision>
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<geometry>
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<mesh filename="meshes/collision/link5.obj"/>
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</geometry>
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</collision>
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</link>
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<joint name="panda_joint5" type="revolute">
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<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
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<origin rpy="-1.57079632679 0 0" xyz="-0.0825 0.384 0"/>
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<parent link="panda_link4"/>
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<child link="panda_link5"/>
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<axis xyz="0 0 1"/>
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<dynamics damping="10.0"/>
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<limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
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</joint>
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<link name="panda_link6">
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<visual>
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<geometry>
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<mesh filename="meshes/visual/link6.dae"/>
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</geometry>
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</visual>
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<collision>
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<geometry>
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<mesh filename="meshes/collision/link6.obj"/>
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</geometry>
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</collision>
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</link>
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<joint name="panda_joint6" type="revolute">
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<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"/>
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<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
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<parent link="panda_link5"/>
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<child link="panda_link6"/>
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<axis xyz="0 0 1"/>
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<dynamics damping="10.0"/>
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<limit effort="12" lower="-0.0175" upper="3.7525" velocity="2.6100"/>
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<!-- <dynamics damping="10.0"/>
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<limit effort="12" lower="-0.0873" upper="3.0" velocity="2.6100"/> -->
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</joint>
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<link name="panda_link7">
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<visual>
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<geometry>
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<mesh filename="meshes/visual/link7.dae"/>
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</geometry>
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</visual>
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<collision>
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<geometry>
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<mesh filename="meshes/collision/link7.obj"/>
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</geometry>
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</collision>
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</link>
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<joint name="panda_joint7" type="revolute">
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<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
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<origin rpy="1.57079632679 0 0" xyz="0.088 0 0"/>
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<parent link="panda_link6"/>
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<child link="panda_link7"/>
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<axis xyz="0 0 1"/>
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<dynamics damping="10.0"/>
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<limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
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</joint>
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<!--
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<link name="panda_link8"/>
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<joint name="panda_joint8" type="fixed">
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<origin rpy="0 0 0" xyz="0 0 0.107"/>
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<parent link="panda_link7"/>
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<child link="panda_link8"/>
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<axis xyz="0 0 0"/>
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</joint>
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Removing this joint seems to help with some stability things
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-->
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<joint name="panda_hand_joint" type="fixed">
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<!--
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<parent link="panda_link8"/>
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-->
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<parent link="panda_link7"/>
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<child link="panda_hand"/>
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<origin rpy="0 0 -0.785398163397" xyz="0 0 0.107"/>
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<!--
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<origin rpy="0 0 -0.785398163397" xyz="0 0 0"/>
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-->
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</joint>
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<link name="panda_hand">
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<visual>
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<geometry>
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<mesh filename="meshes/visual/hand.dae"/>
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</geometry>
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</visual>
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<collision>
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<geometry>
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<mesh filename="meshes/collision/hand.obj"/>
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</geometry>
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</collision>
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</link>
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<link name="panda_leftfinger">
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<visual>
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<geometry>
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<mesh filename="meshes/visual/finger.dae"/>
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</geometry>
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</visual>
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<collision>
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<geometry>
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<mesh filename="meshes/collision/finger.obj"/>
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</geometry>
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</collision>
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</link>
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<link name="panda_rightfinger">
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<visual>
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<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
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<geometry>
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<mesh filename="meshes/visual/finger.dae"/>
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</geometry>
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</visual>
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<collision>
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<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
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<geometry>
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<mesh filename="meshes/collision/finger.obj"/>
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</geometry>
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</collision>
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</link>
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<joint name="panda_finger_joint1" type="prismatic">
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<parent link="panda_hand"/>
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<child link="panda_leftfinger"/>
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<origin rpy="0 0 0" xyz="0 0 0.0584"/>
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<axis xyz="0 1 0"/>
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<dynamics damping="10.0"/>
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<limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
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</joint>
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<joint name="panda_finger_joint2" type="prismatic">
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<parent link="panda_hand"/>
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<child link="panda_rightfinger"/>
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<origin rpy="0 0 0" xyz="0 0 0.0584"/>
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<axis xyz="0 1 0"/>
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<dynamics damping="10.0"/>
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<limit effort="20" lower="-0.04" upper="0.0" velocity="0.2"/>
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<mimic joint="panda_finger_joint1"/>
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</joint>
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<link name="ee_link"/>
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<joint name="ee_fixed_joint" type="fixed">
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<parent link="panda_hand"/>
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<child link="ee_link"/>
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<origin rpy="0 0.0 0" xyz="0.0 0. 0.1"/>
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</joint>
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<link name="right_gripper">
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<inertial>
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<!-- Dummy inertial parameters to avoid link lumping-->
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<mass value="0.01"/>
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<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</inertial>
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</link>
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<joint name="right_gripper" type="fixed">
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<!--<origin rpy="0 0 2.35619449019" xyz="0 0 0.1"/>-->
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<origin rpy="0 0 2.35619449019" xyz="0 0 0.207"/>
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<axis xyz="0 0 1"/>
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<parent link="panda_link7"/>
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<!--<parent link="panda_link8"/>-->
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<child link="right_gripper"/>
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</joint>
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</robot>
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@@ -0,0 +1,325 @@
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<?xml version="1.0" ?>
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<robot name="panda" xmlns:xacro="http://www.ros.org/wiki/xacro">
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<link name="base_link"/>
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<link name="base_link_x"/>
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<link name="base_link_y"/>
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<link name="base_link_z"/>
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<joint name="base_x" type="prismatic">
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<origin rpy="0 0 0.0" xyz="0 0 0.0"/>
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<parent link="base_link"/>
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<child link="base_link_x"/>
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<axis xyz="1 0 0"/>
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<dynamics damping="10.0"/>
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<limit effort="87" lower="-1.0" upper="1.0" velocity="2.1750"/>
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</joint>
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<joint name="base_y" type="prismatic">
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<origin rpy="0 0 0.0" xyz="0 0 0.0"/>
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<parent link="base_link_x"/>
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<child link="base_link_y"/>
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<axis xyz="0 1 0"/>
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<dynamics damping="10.0"/>
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<limit effort="87" lower="-1.0" upper="1.0" velocity="2.1750"/>
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</joint>
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<joint name="base_z" type="prismatic">
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<origin rpy="0 0 0.0" xyz="0 0 0.0"/>
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<parent link="base_link_y"/>
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<child link="base_link_z"/>
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<axis xyz="0 0 1"/>
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<dynamics damping="10.0"/>
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<limit effort="87" lower="0.1" upper="1.0" velocity="2.1750"/>
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</joint>
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<joint name="base_fixed" type="fixed">
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<origin rpy="0 0 0.0" xyz="0 0 0.0"/>
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<parent link="base_link_z"/>
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<child link="panda_link0"/>
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<axis xyz="0 0 0"/>
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</joint>
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<link name="panda_link0">
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<visual>
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<geometry>
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<mesh filename="meshes/visual/link0.dae"/>
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</geometry>
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</visual>
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<collision>
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<geometry>
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<mesh filename="meshes/collision/link0.obj"/>
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</geometry>
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</collision>
|
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|
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</link>
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<link name="panda_link1">
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<visual>
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<geometry>
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<mesh filename="meshes/visual/link1.dae"/>
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</geometry>
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</visual>
|
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<collision>
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<geometry>
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<mesh filename="meshes/collision/link1.obj"/>
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</geometry>
|
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</collision>
|
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</link>
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<joint name="panda_joint1" type="revolute">
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<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
|
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<origin rpy="0 0 0" xyz="0 0 0.333"/>
|
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<parent link="panda_link0"/>
|
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<child link="panda_link1"/>
|
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<axis xyz="0 0 1"/>
|
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<dynamics damping="10.0"/>
|
||||
<!--limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/-->
|
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<limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
|
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</joint>
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<link name="panda_link2">
|
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<visual>
|
||||
<geometry>
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<mesh filename="meshes/visual/link2.dae"/>
|
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</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link2.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
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<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
|
||||
Reference in New Issue
Block a user