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add kuka_lwr urdf file for testing, the r2d2 gets boring

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This commit is contained in:
Erwin Coumans
2015-07-23 18:36:46 -07:00
parent fd1c00dbb2
commit 346bc00ac7
30 changed files with 3721 additions and 0 deletions
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80
data/kuka_lwr/arm_base.urdf.xacro Normal file
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<?xml version="1.0"?>
<robot name="LWR">
<include filename="$(find lmtlwr)/model/kuka_lwr_arm.urdf.xacro"/>
<include filename="$(find lmtlwr)/model/gazebo.urdf.xacro"/>
<include filename="$(find lmtlwr)/model/materials.xml"/>
-
<kuka_lwr_arm parent="base_link" name="lwr" right="1" tool_name="">
<origin xyz="0 0 0" rpy="0 0 0"/>
</kuka_lwr_arm>
<link name="base_link" />
<link name="table">
<visual>
<origin xyz="0 0 -0.02"/>
<geometry>
<box size="2 2 0.04"/>
</geometry>
<material name="wood">
<texture filename="package://lmtlwr/model/wood.jpg"/>
<color rgba="0.65 0.5 0.4 0.8"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="2 2 0.03"/>
</geometry>
</collision>
</link>
- <link name="aluplate">
<visual>
<origin xyz="0 0 -0.0075" />
<geometry>
<box size="0.275 0.275 0.015" xyz="0.2 0.2 0.0"/>
</geometry>
<material name="Silver" />
</visual>
</link>
<link name="lwr_tool">
<visual>
<origin xyz="0 0 0" />
<geometry>
<mesh filename="package://lmtlwr/model/tools/jr3-stabilo.dae" scale="0.0254 0.0254 0.0254"/>
</geometry>
</visual>
</link>
<link name="lwr_tool_tcp" />
<joint name="arm7_to_tcp" type="fixed">
<parent link="lwr_arm_7_link" />
<child link="lwr_tool_tcp"/>
<origin xyz="-0.028 0.010 0.203" />
</joint>
<joint name="arm7_to_tool" type="fixed">
<parent link="lwr_arm_7_link" />
<child link="lwr_tool"/>
<origin xyz="0 0 0" />
</joint>
<joint name="table_to_base" type="fixed">
<parent link="table" />
<child link="aluplate"/>
<origin xyz="0 0 0.015" />
</joint>
<joint name="aluplate_to_base" type="fixed">
<parent link="aluplate" />
<child link="base_link"/>
<origin xyz="0 0 0" rpy="0 0 45" />
</joint>
</robot>

16
data/kuka_lwr/gazebo.urdf.xacro Normal file
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<?xml version="1.0"?>
<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
<gazebo>
<controller:gazebo_ros_controller_manager name="gazebo_controller_manager" plugin="libgazebo_ros_controller_manager.so">
<alwaysOn>true</alwaysOn>
<robotParam>robot_description</robotParam>
<updateRate>1000.0</updateRate>
<interface:audio name="gazebo_mechanism_control_dummy_iface" />
</controller:gazebo_ros_controller_manager>
</gazebo>
</robot>

296
data/kuka_lwr/kuka.urdf Normal file
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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from kuka_lwr_arm.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="kuka" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor">
<!--
Little helper macro to define the inertia matrix needed
for links.
-->
<!-- length is along the y-axis! -->
<!-- right is either 1 (for right arm) or -1 (for left arm) -->
<link name="calib_kuka_arm_base_link">
<inertial>
<mass value="0"/>
<origin rpy="0 0 0" xyz="0 0 0.055"/>
<inertia ixx="0.00381666666667" ixy="0" ixz="0" iyy="0.0036" iyz="0" izz="0.00381666666667"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes_arm/arm_base.dae"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes_arm/convex/arm_base_convex.stl"/>
</geometry>
</collision>
</link>
<gazebo reference="calib_kuka_arm_base_link">
<material value="kuka-lwr.material"/>
</gazebo>
<joint name="kuka_arm_0_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0.11"/>
<axis xyz="0 0 1"/>
<limit effort="204" lower="-2.96705972839" upper="2.96705972839" velocity="1.91986217719"/>
<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.93215314335" soft_upper_limit="2.93215314335"/>
<dynamics damping="0.1"/>
<parent link="calib_kuka_arm_base_link"/>
<child link="kuka_arm_1_link"/>
</joint>
<link name="kuka_arm_1_link">
<inertial>
<mass value="2.0"/>
<origin rpy="0 0 0" xyz="0 0 0.130"/>
<inertia ixx="0.0136666666667" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.0118666666667"/>
</inertial>
<visual>
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes_arm/arm_segment_a.dae"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes_arm/convex/arm_segment_a_convex.stl"/>
</geometry>
</collision>
</link>
<gazebo reference="kuka_arm_1_link">
<material value="kuka-lwr.material"/>
</gazebo>
<transmission name="kuka_arm_0_trans" type="pr2_mechanism_model/SimpleTransmission">
<actuator name="kuka_arm_0_motor"/>
<joint name="kuka_arm_0_joint"/>
<mechanicalReduction>1.0</mechanicalReduction>
</transmission>
<joint name="kuka_arm_1_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0.20"/>
<axis xyz="0 -1 0"/>
<!--limit lower="${-120 * M_PI / 180}" upper="${120 * M_PI / 180}"
effort="306" velocity="${arm_velocity_scale_factor * 110 * M_PI / 180}" /-->
<!-- nalt: Reduced limits to avoid contact with table - kinda hacky, should not be done here -->
<limit effort="306" lower="-1.57079632679" upper="1.57079632679" velocity="1.91986217719"/>
<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.05948851735" soft_upper_limit="2.05948851735"/>
<dynamics damping="0.1"/>
<parent link="kuka_arm_1_link"/>
<child link="kuka_arm_2_link"/>
</joint>
<link name="kuka_arm_2_link">
<inertial>
<mass value="2.0"/>
<origin rpy="0 0 0" xyz="0 0.06 0.07"/>
<inertia ixx="0.0136666666667" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.0118666666667"/>
</inertial>
<visual>
<origin rpy="3.14159265359 0 3.14159265359" xyz="0 0 0.2"/>
<geometry>
<mesh filename="meshes_arm/arm_segment_b.dae"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="3.14159265359 0 3.14159265359" xyz="0 0 0.2"/>
<geometry>
<mesh filename="meshes_arm/convex/arm_segment_b_convex.stl"/>
</geometry>
</collision>
</link>
<gazebo reference="kuka_arm_2_link">
<material value="kuka-lwr.material"/>
</gazebo>
<transmission name="kuka_arm_1_trans" type="pr2_mechanism_model/SimpleTransmission">
<actuator name="kuka_arm_1_motor"/>
<joint name="kuka_arm_1_joint"/>
<mechanicalReduction>1.0</mechanicalReduction>
</transmission>
<joint name="kuka_arm_2_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0.20"/>
<axis xyz="0 0 1"/>
<limit effort="204" lower="-2.96705972839" upper="2.96705972839" velocity="2.26892802759"/>
<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.93215314335" soft_upper_limit="2.93215314335"/>
<dynamics damping="0.1"/>
<parent link="kuka_arm_2_link"/>
<child link="kuka_arm_3_link"/>
</joint>
<link name="kuka_arm_3_link">
<inertial>
<mass value="2.0"/>
<origin rpy="0 0 0" xyz="0 0.06 0.130"/>
<inertia ixx="0.0136666666667" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.0118666666667"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes_arm/arm_segment_a.dae"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes_arm/convex/arm_segment_a_convex.stl"/>
</geometry>
</collision>
</link>
<gazebo reference="kuka_arm_3_link">
<material value="kuka-lwr.material"/>
</gazebo>
<transmission name="kuka_arm_2_trans" type="pr2_mechanism_model/SimpleTransmission">
<actuator name="kuka_arm_2_motor"/>
<joint name="kuka_arm_2_joint"/>
<mechanicalReduction>1.0</mechanicalReduction>
</transmission>
<joint name="kuka_arm_3_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0.20"/>
<axis xyz="0 1 0"/>
<limit effort="306" lower="-2.09439510239" upper="2.09439510239" velocity="2.26892802759"/>
<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.05948851735" soft_upper_limit="2.05948851735"/>
<dynamics damping="0.1"/>
<parent link="kuka_arm_3_link"/>
<child link="kuka_arm_4_link"/>
</joint>
<link name="kuka_arm_4_link">
<inertial>
<mass value="2.0"/>
<origin rpy="0 0 0" xyz="0 -0.06 0.07"/>
<inertia ixx="0.0136666666667" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.0118666666667"/>
</inertial>
<visual>
<origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 0.2"/>
<geometry>
<mesh filename="meshes_arm/arm_segment_b.dae"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 0.2"/>
<geometry>
<mesh filename="meshes_arm/convex/arm_segment_b_convex.stl"/>
</geometry>
</collision>
</link>
<gazebo reference="kuka_arm_4_link">
<material value="kuka-lwr.material"/>
</gazebo>
<transmission name="kuka_arm_3_trans" type="pr2_mechanism_model/SimpleTransmission">
<actuator name="kuka_arm_3_motor"/>
<joint name="kuka_arm_3_joint"/>
<mechanicalReduction>1.0</mechanicalReduction>
</transmission>
<joint name="kuka_arm_4_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0.20"/>
<axis xyz="0 0 1"/>
<limit effort="204" lower="-2.96705972839" upper="2.96705972839" velocity="2.26892802759"/>
<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.93215314335" soft_upper_limit="2.93215314335"/>
<dynamics damping="0.1"/>
<parent link="kuka_arm_4_link"/>
<child link="kuka_arm_5_link"/>
</joint>
<link name="kuka_arm_5_link">
<inertial>
<mass value="2.0"/>
<origin rpy="0 0 0" xyz="0 0 0.124"/>
<inertia ixx="0.0126506666667" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.0108506666667"/>
</inertial>
<visual>
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
<geometry name="kuka_arm_5_geom">
<mesh filename="meshes_arm/arm_segment_last.dae"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes_arm/convex/arm_segment_last_convex.stl"/>
</geometry>
</collision>
</link>
<gazebo reference="kuka_arm_5_link">
<material value="kuka-lwr.material"/>
</gazebo>
<transmission name="kuka_arm_4_trans" type="pr2_mechanism_model/SimpleTransmission">
<actuator name="kuka_arm_4_motor"/>
<joint name="kuka_arm_4_joint"/>
<mechanicalReduction>1.0</mechanicalReduction>
</transmission>
<joint name="kuka_arm_5_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0.19"/>
<axis xyz="0 -1 0"/>
<limit effort="306" lower="-2.09439510239" upper="2.09439510239" velocity="3.14159265359"/>
<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.05948851735" soft_upper_limit="2.05948851735"/>
<dynamics damping="0.1"/>
<parent link="kuka_arm_5_link"/>
<child link="kuka_arm_6_link"/>
</joint>
<link name="kuka_arm_6_link">
<inertial>
<mass value="2.0"/>
<origin rpy="0 0 0" xyz="0 0 0.0625"/>
<inertia ixx="0.00520833333333" ixy="0" ixz="0" iyy="0.00520833333333" iyz="0" izz="0.00520833333333"/>
</inertial>
<visual>
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes_arm/arm_wrist.dae"/>
</geometry>
<material name="Grey"/>
</visual>
<collision>
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes_arm/convex/arm_wrist_convex.stl"/>
</geometry>
</collision>
</link>
<gazebo reference="kuka_arm_6_link">
<material value="kuka-lwr.material"/>
</gazebo>
<transmission name="kuka_arm_5_trans" type="pr2_mechanism_model/SimpleTransmission">
<actuator name="kuka_arm_5_motor"/>
<joint name="kuka_arm_5_joint"/>
<mechanicalReduction>1.0</mechanicalReduction>
</transmission>
<joint name="kuka_arm_6_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0.078"/>
<axis xyz="0 0 1"/>
<limit effort="204" lower="-2.96705972839" upper="2.96705972839" velocity="3.14159265359"/>
<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.93215314335" soft_upper_limit="2.93215314335"/>
<dynamics damping="0.1"/>
<parent link="kuka_arm_6_link"/>
<child link="kuka_arm_7_link"/>
</joint>
<link name="kuka_arm_7_link">
<inertial>
<mass value="2.0"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.333333333333" ixy="0" ixz="0" iyy="0.333333333333" iyz="0" izz="0.333333333333"/>
</inertial>
<visual>
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes_arm/arm_flanche_angle.dae"/>
</geometry>
<material name="Grey"/>
</visual>
<collision>
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes_arm/convex/arm_flanche_angle__convex.stl"/>
</geometry>
</collision>
</link>
<transmission name="kuka_arm_6_trans" type="pr2_mechanism_model/SimpleTransmission">
<actuator name="kuka_arm_6_motor"/>
<joint name="kuka_arm_6_joint"/>
<mechanicalReduction>1.0</mechanicalReduction>
</transmission>
</robot>

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data/kuka_lwr/kuka_lwr_arm.urdf.xacro Normal file
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<?xml version="1.0"?>
<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
<property name="M_PI" value="3.1415926535897931" />
<property name="name" value="kuka" />
<!--
Little helper macro to define the inertia matrix needed
for links.
-->
<macro name="cuboid_inertia_def" params="width height length mass">
<inertia ixx="${mass * (height * height + length * length) / 12)}"
iyy="${mass * (width * width + length * length) / 12)}"
izz="${mass * (width * width + height * height) / 12)}"
ixy="0" iyz="0" ixz="0"/>
</macro>
<!-- length is along the y-axis! -->
<macro name="cylinder_inertia_def" params="radius length mass">
<inertia ixx="${mass * (3 * radius * radius + length * length) / 12)}"
iyy="${mass * radius* radius / 2)}"
izz="${mass * (3 * radius * radius + length * length) / 12)}"
ixy="0" iyz="0" ixz="0"/>
</macro>
<property name="arm_elem_link_mass" value="2.0"/>
<property name="arm_elem_ball_link_mass" value="2.0"/>
<property name="arm_elem_end_link_mass" value="2.0"/>
<property name="safety_controller_k_pos" value="100" />
<property name="safety_controller_k_vel" value="2" />
<property name="joint_damping" value="0.1" />
<property name="arm_velocity_scale_factor" value="1"/>
<property name="right" value="0" />
<!-- right is either 1 (for right arm) or -1 (for left arm) -->
<joint name="${name}_arm_base_joint" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0" />
<child link="calib_${name}_arm_base_link"/>
</joint>
<link name="calib_${name}_arm_base_link">
<inertial>
<mass value="2"/>
<origin xyz="0 0 0.055" rpy="0 0 0"/>
<cylinder_inertia_def radius="0.06" length="0.11"
mass="2"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="meshes_arm/arm_base.dae"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="meshes_arm/convex/arm_base_convex.stl"/>
</geometry>
</collision>
</link>
<gazebo reference="calib_${name}_arm_base_link">
<material value="kuka-lwr.material"/>
</gazebo>
<joint name="${name}_arm_0_joint" type="revolute">
<origin xyz="0 0 0.11" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<limit lower="${-170 * M_PI / 180}" upper="${170 * M_PI / 180}"
effort="204" velocity="${arm_velocity_scale_factor * 110 * M_PI / 180}" />
<safety_controller soft_lower_limit="${-168 * M_PI / 180}"
soft_upper_limit="${168 * M_PI / 180}"
k_position="${safety_controller_k_pos}"
k_velocity="${safety_controller_k_vel}"/>
<dynamics damping="${joint_damping}"/>
<parent link="calib_${name}_arm_base_link"/>
<child link="${name}_arm_1_link"/>
</joint>
<link name="${name}_arm_1_link">
<inertial>
<mass value="${arm_elem_link_mass}"/>
<origin rpy="0 0 0" xyz="0 0 0.130"/>
<cuboid_inertia_def length="0.12" width="0.06" height="0.260"
mass="${arm_elem_link_mass}"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 ${M_PI}"/>
<geometry>
<mesh filename="meshes_arm/arm_segment_a.dae"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 ${M_PI}"/>
<geometry>
<mesh filename="meshes_arm/convex/arm_segment_a_convex.stl"/>
</geometry>
</collision>
</link>
<gazebo reference="${name}_arm_1_link">
<material value="kuka-lwr.material"/>
</gazebo>
<transmission name="${name}_arm_0_trans" type="pr2_mechanism_model/SimpleTransmission">
<actuator name="${name}_arm_0_motor"/>
<joint name="${name}_arm_0_joint"/>
<mechanicalReduction>1.0</mechanicalReduction>
</transmission>
<joint name="${name}_arm_1_joint" type="revolute">
<origin xyz="0 0 0.20" rpy="0 0 0"/>
<axis xyz="0 -1 0"/>
<!--limit lower="${-120 * M_PI / 180}" upper="${120 * M_PI / 180}"
effort="306" velocity="${arm_velocity_scale_factor * 110 * M_PI / 180}" /-->
<!-- nalt: Reduced limits to avoid contact with table - kinda hacky, should not be done here -->
<limit lower="${-90 * M_PI / 180}" upper="${90 * M_PI / 180}"
effort="306" velocity="${arm_velocity_scale_factor * 110 * M_PI / 180}" />
<safety_controller soft_lower_limit="${-118 * M_PI / 180}"
soft_upper_limit="${118 * M_PI / 180}"
k_position="${safety_controller_k_pos}"
k_velocity="${safety_controller_k_vel}"/>
<dynamics damping="${joint_damping}"/>
<parent link="${name}_arm_1_link"/>
<child link="${name}_arm_2_link"/>
</joint>
<link name="${name}_arm_2_link">
<inertial>
<mass value="${arm_elem_link_mass}"/>
<origin rpy="0 0 0" xyz="0 0.06 ${0.130 - 0.06}"/>
<cuboid_inertia_def length="0.12" width="0.06" height="0.260"
mass="${arm_elem_link_mass}"/>
</inertial>
<visual>
<origin xyz="0 0 0.2" rpy="${M_PI} 0 ${M_PI}"/>
<geometry>
<mesh filename="meshes_arm/arm_segment_b.dae"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin xyz="0 0 0.2" rpy="${M_PI} 0 ${M_PI}"/>
<geometry>
<mesh filename="meshes_arm/convex/arm_segment_b_convex.stl"/>
</geometry>
</collision>
</link>
<gazebo reference="${name}_arm_2_link">
<material value="kuka-lwr.material"/>
</gazebo>
<transmission name="${name}_arm_1_trans" type="pr2_mechanism_model/SimpleTransmission">
<actuator name="${name}_arm_1_motor"/>
<joint name="${name}_arm_1_joint"/>
<mechanicalReduction>1.0</mechanicalReduction>
</transmission>
<joint name="${name}_arm_2_joint" type="revolute">
<origin xyz="0 0 0.20" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<limit lower="${-170 * M_PI / 180}" upper="${170 * M_PI / 180}"
effort="204" velocity="${arm_velocity_scale_factor * 130 * M_PI / 180}" />
<safety_controller soft_lower_limit="${-168 * M_PI / 180}"
soft_upper_limit="${168 * M_PI / 180}"
k_position="${safety_controller_k_pos}"
k_velocity="${safety_controller_k_vel}"/>
<dynamics damping="${joint_damping}"/>
<parent link="${name}_arm_2_link"/>
<child link="${name}_arm_3_link"/>
</joint>
<link name="${name}_arm_3_link">
<inertial>
<mass value="${arm_elem_link_mass}"/>
<origin rpy="0 0 0" xyz="0 0.06 0.130"/>
<cuboid_inertia_def length="0.12" width="0.06" height="0.260"
mass="${arm_elem_link_mass}"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="meshes_arm/arm_segment_a.dae"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="meshes_arm/convex/arm_segment_a_convex.stl"/>
</geometry>
</collision>
</link>
<gazebo reference="${name}_arm_3_link">
<material value="kuka-lwr.material"/>
</gazebo>
<transmission name="${name}_arm_2_trans" type="pr2_mechanism_model/SimpleTransmission">
<actuator name="${name}_arm_2_motor"/>
<joint name="${name}_arm_2_joint"/>
<mechanicalReduction>1.0</mechanicalReduction>
</transmission>
<joint name="${name}_arm_3_joint" type="revolute">
<origin xyz="0 0 0.20" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<limit lower="${-120 * M_PI / 180}" upper="${120 * M_PI / 180}"
effort="306" velocity="${arm_velocity_scale_factor * 130 * M_PI / 180}" />
<safety_controller soft_lower_limit="${-118 * M_PI / 180}"
soft_upper_limit="${118 * M_PI / 180}"
k_position="${safety_controller_k_pos}"
k_velocity="${safety_controller_k_vel}"/>
<dynamics damping="${joint_damping}"/>
<parent link="${name}_arm_3_link"/>
<child link="${name}_arm_4_link"/>
</joint>
<link name="${name}_arm_4_link">
<inertial>
<mass value="${arm_elem_link_mass}"/>
<origin rpy="0 0 0" xyz="0 -0.06 ${0.130 - 0.06}"/>
<cuboid_inertia_def length="0.12" width="0.06" height="0.2600"
mass="${arm_elem_link_mass}"/>
</inertial>
<visual>
<origin xyz="0 0 0.2" rpy="0 ${M_PI} ${M_PI}"/>
<geometry>
<mesh filename="meshes_arm/arm_segment_b.dae"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin xyz="0 0 0.2" rpy="0 ${M_PI} ${M_PI}"/>
<geometry>
<mesh filename="meshes_arm/convex/arm_segment_b_convex.stl"/>
</geometry>
</collision>
</link>
<gazebo reference="${name}_arm_4_link">
<material value="kuka-lwr.material"/>
</gazebo>
<transmission name="${name}_arm_3_trans" type="pr2_mechanism_model/SimpleTransmission">
<actuator name="${name}_arm_3_motor"/>
<joint name="${name}_arm_3_joint"/>
<mechanicalReduction>1.0</mechanicalReduction>
</transmission>
<joint name="${name}_arm_4_joint" type="revolute">
<origin xyz="0 0 0.20" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<limit lower="${-170 * M_PI / 180}" upper="${170 * M_PI / 180}"
effort="204" velocity="${arm_velocity_scale_factor * 130 * M_PI / 180}" />
<safety_controller soft_lower_limit="${-168 * M_PI / 180}"
soft_upper_limit="${168 * M_PI / 180}"
k_position="${safety_controller_k_pos}"
k_velocity="${safety_controller_k_vel}"/>
<dynamics damping="${joint_damping}"/>
<parent link="${name}_arm_4_link"/>
<child link="${name}_arm_5_link"/>
</joint>
<link name="${name}_arm_5_link">
<inertial>
<mass value="${arm_elem_link_mass}"/>
<origin rpy="0 0 0" xyz="0 0 0.124"/>
<cuboid_inertia_def length="0.12" width="0.06" height="0.248"
mass="${arm_elem_link_mass}"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 ${M_PI}"/>
<geometry name="${name}_arm_5_geom">
<mesh filename="meshes_arm/arm_segment_last.dae"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 ${M_PI}"/>
<geometry>
<mesh filename="meshes_arm/convex/arm_segment_last_convex.stl"/>
</geometry>
</collision>
</link>
<gazebo reference="${name}_arm_5_link">
<material value="kuka-lwr.material"/>
</gazebo>
<transmission name="${name}_arm_4_trans" type="pr2_mechanism_model/SimpleTransmission">
<actuator name="${name}_arm_4_motor"/>
<joint name="${name}_arm_4_joint"/>
<mechanicalReduction>1.0</mechanicalReduction>
</transmission>
<joint name="${name}_arm_5_joint" type="revolute">
<origin xyz="0 0 0.19" rpy="0 0 0"/>
<axis xyz="0 -1 0"/>
<limit lower="${-120 * M_PI / 180}" upper="${120 * M_PI / 180}"
effort="306" velocity="${arm_velocity_scale_factor * 180 * M_PI / 180}" />
<safety_controller soft_lower_limit="${-118 * M_PI / 180}"
soft_upper_limit="${118 * M_PI / 180}"
k_position="${safety_controller_k_pos}"
k_velocity="${safety_controller_k_vel}"/>
<dynamics damping="${joint_damping}"/>
<parent link="${name}_arm_5_link"/>
<child link="${name}_arm_6_link"/>
</joint>
<link name="${name}_arm_6_link">
<inertial>
<mass value="${arm_elem_ball_link_mass}"/>
<origin rpy="0 0 0" xyz="0 0 0.0625"/>
<cuboid_inertia_def length="0.125" width="0.125" height="0.125"
mass="${arm_elem_ball_link_mass}"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 ${M_PI}"/>
<geometry>
<mesh filename="meshes_arm/arm_wrist.dae"/>
</geometry>
<material name="Grey"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 ${M_PI}"/>
<geometry>
<mesh filename="meshes_arm/convex/arm_wrist_convex.stl"/>
</geometry>
</collision>
</link>
<gazebo reference="${name}_arm_6_link">
<material value="kuka-lwr.material"/>
</gazebo>
<transmission name="${name}_arm_5_trans" type="pr2_mechanism_model/SimpleTransmission">
<actuator name="${name}_arm_5_motor"/>
<joint name="${name}_arm_5_joint"/>
<mechanicalReduction>1.0</mechanicalReduction>
</transmission>
<joint name="${name}_arm_6_joint" type="revolute">
<origin xyz="0 0 0.078" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<limit lower="${-170 * M_PI / 180}" upper="${170 * M_PI / 180}"
effort="204" velocity="${arm_velocity_scale_factor * 180 * M_PI / 180}" />
<safety_controller soft_lower_limit="${-168 * M_PI / 180}"
soft_upper_limit="${168 * M_PI / 180}"
k_position="${safety_controller_k_pos}"
k_velocity="${safety_controller_k_vel}"/>
<dynamics damping="${joint_damping}"/>
<parent link="${name}_arm_6_link"/>
<child link="${name}_arm_7_link"/>
</joint>
<link name="${name}_arm_7_link">
<inertial>
<mass value="${arm_elem_end_link_mass}"/>
<origin xyz="0 0 0"/>
<cuboid_inertia_def length="1" width="1" height="1"
mass="${arm_elem_end_link_mass}"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 ${right * -1/4 * M_PI + M_PI}"/>
<geometry>
<mesh filename="meshes_arm/arm_flanche_angle.dae"/>
</geometry>
<material name="Grey"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 ${right * -1/4 * M_PI + M_PI}"/>
<geometry>
<mesh filename="meshes_arm/convex/arm_flanche_angle__convex.stl"/>
</geometry>
</collision>
</link>
<link name="lwr_arm_hand_link" />
<gazebo reference="${name}_arm_7_link">
<material value="kuka-lwr.material"/>
</gazebo>
<transmission name="${name}_arm_6_trans" type="pr2_mechanism_model/SimpleTransmission">
<actuator name="${name}_arm_6_motor"/>
<joint name="${name}_arm_6_joint"/>
<mechanicalReduction>1.0</mechanicalReduction>
</transmission>
<joint name="${name}_arm_hand_fixed_joint" type="fixed">
<origin xyz="${-right * 0.075} -0.075 -0.094"
rpy="${0.5*right*M_PI} 0 ${(1.5 + 0.25*right)*M_PI}"/>
<parent link="${name}_arm_7_link"/>
<child link="${name}_arm_hand_link"/>
</joint>
</robot>

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data/kuka_lwr/materials.xml Normal file
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<?xml version="1.0"?>
<robot>
<material name="DarkGrey">
<color rgba="0.3 0.3 0.3 1.0"/>
</material>
<material name="Black">
<color rgba="0 0 0 1.0"/>
</material>
<material name="Orange">
<color rgba="1.0 0.487 0 1.0"/>
</material>
<material name="Silver">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<material name="Grey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
<material name="Blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="HandGray">
<color rgba="0.953 0.996 0.694 1.0"/>
</material>
<material name="SickBlue">
<color rgba="0.3058 0.5921 0.7294 1.0"/>
</material>
</robot>

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The meshes of the lightweight robot are based on a blender model
which was re-designed from scratch. (It can be downloaded at
http://toychest.in.tum.de/wiki/_media/projects:lwr-arm.blend)
This blender model, as well as the meshes found in this folder
are licensed under CC-BY-3.0:
Copyright (c) 2010 by Ingo Kresse <kresse@in.tum.de>.
This work is made available under the terms of the
Creative Commons Attribution 3.0 license,
http://creativecommons.org/licenses/by/3.0/.

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<?xml version="1.0" encoding="utf-8"?>
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<author>Illusoft Collada 1.4.0 plugin for Blender - http://colladablender.illusoft.com</author>
<authoring_tool>Blender v:249 - Illusoft Collada Exporter v:0.3.162</authoring_tool>
<comments></comments>
<copyright></copyright>
<source_data>file:///home/ingo/models/lwr/meshes/arm_flanche.blend</source_data>
</contributor>
<created>2010-07-28T12:31:52.074222</created>
<modified>2010-07-28T12:31:52.074265</modified>
<unit meter="1" name="meter"/>
<up_axis>Z_UP</up_axis>
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<reflectivity>
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<input offset="0" semantic="VERTEX" source="#flanche_001-Vertex"/>
<input offset="1" semantic="NORMAL" source="#flanche_001-Normals"/>
<p>13 0 18 0 19 0 19 1 15 1 13 1 13 2 15 2 11 2 13 3 11 3 9 3 9 4 11 4 7 4 9 5 7 5 5 5 5 6 7 6 3 6 5 7 3 7 1 7 17 8 16 8 14 8 14 9 16 9 12 9 14 10 12 10 10 10 10 11 12 11 8 11 10 12 8 12 6 12 6 13 8 13 4 13 6 14 4 14 2 14 4 15 0 15 2 15 39 16 31 16 38 16 38 17 31 17 30 17 38 18 30 18 37 18 30 19 32 19 33 19 35 20 36 20 37 20 37 21 30 21 35 21 35 22 30 22 33 22 35 23 33 23 34 23 20 24 21 24 29 24 22 25 20 25 23 25 23 26 20 26 25 26 23 27 25 27 24 27 26 28 25 28 27 28 27 29 25 29 20 29 27 30 20 30 28 30 28 31 20 31 29 31 20 32 30 32 21 32 21 33 30 33 31 33 21 34 31 34 16 34 16 35 31 35 18 35 16 36 18 36 12 36 12 37 18 37 13 37 14 38 15 38 17 38 17 39 15 39 19 39 17 40 19 40 29 40 29 41 19 41 39 41 29 42 39 42 28 42 28 43 39 43 38 43 39 44 19 44 31 44 31 45 19 45 18 45 17 46 29 46 16 46 16 47 29 47 21 47 28 48 38 48 37 48 28 49 37 49 27 49 27 50 37 50 36 50 27 51 36 51 26 51 26 52 36 52 35 52 26 53 35 53 25 53 25 54 35 54 34 54 25 55 34 55 24 55 24 56 34 56 33 56 24 57 33 57 23 57 23 58 33 58 32 58 23 59 32 59 22 59 22 60 32 60 30 60 22 61 30 61 20 61 12 62 13 62 9 62 12 63 9 63 8 63 8 64 9 64 5 64 8 65 5 65 4 65 4 66 5 66 1 66 1 67 0 67 4 67 0 68 1 68 3 68 0 69 3 69 2 69 2 70 3 70 7 70 2 71 7 71 6 71 6 72 7 72 11 72 6 73 11 73 10 73 10 74 11 74 15 74 10 75 15 75 14 75</p>
</triangles>
</mesh>
</geometry>
</library_geometries>
<library_visual_scenes>
<visual_scene id="Scene" name="Scene">
<node layer="L1" id="flanche" name="flanche">
<matrix>
1.0 0.0 0.0 0.0
0.0 1.0 0.0 0.0
0.0 0.0 1.0 0.0
0.0 0.0 0.0 1.0
</matrix>
<instance_geometry url="#flanche_001">
<bind_material>
<technique_common>
<instance_material symbol="Black" target="#Black">
<bind_vertex_input input_semantic="TEXCOORD" input_set="1" semantic="CHANNEL1"/>
</instance_material>
<instance_material symbol="Grey" target="#Grey">
<bind_vertex_input input_semantic="TEXCOORD" input_set="1" semantic="CHANNEL1"/>
</instance_material>
</technique_common>
</bind_material>
</instance_geometry>
</node>
</visual_scene>
</library_visual_scenes>
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
</COLLADA>

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@@ -0,0 +1,4 @@
convex collision hulls, created using
rosrun convex_decomposition convex_decomposition <mesh.obj> -v24 -p10 -s0.01
rosrun ivcon ivcon <mesh_convex.obj> <mesh_convex.stlb>

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