add kuka_lwr urdf file for testing, the r2d2 gets boring
This commit is contained in:
Erwin Coumans
296
data/kuka_lwr/kuka.urdf
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296
data/kuka_lwr/kuka.urdf
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<?xml version="1.0" ?>
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<!-- =================================================================================== -->
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<!-- | This document was autogenerated by xacro from kuka_lwr_arm.urdf.xacro | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
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<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">
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<!--
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Little helper macro to define the inertia matrix needed
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for links.
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-->
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<!-- length is along the y-axis! -->
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<!-- right is either 1 (for right arm) or -1 (for left arm) -->
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<link name="calib_kuka_arm_base_link">
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<inertial>
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<mass value="0"/>
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<origin rpy="0 0 0" xyz="0 0 0.055"/>
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<inertia ixx="0.00381666666667" ixy="0" ixz="0" iyy="0.0036" iyz="0" izz="0.00381666666667"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="meshes_arm/arm_base.dae"/>
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</geometry>
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<material name="Orange"/>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="meshes_arm/convex/arm_base_convex.stl"/>
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</geometry>
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</collision>
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</link>
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<gazebo reference="calib_kuka_arm_base_link">
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<material value="kuka-lwr.material"/>
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</gazebo>
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<joint name="kuka_arm_0_joint" type="revolute">
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<origin rpy="0 0 0" xyz="0 0 0.11"/>
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<axis xyz="0 0 1"/>
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<limit effort="204" lower="-2.96705972839" upper="2.96705972839" velocity="1.91986217719"/>
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<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.93215314335" soft_upper_limit="2.93215314335"/>
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<dynamics damping="0.1"/>
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<parent link="calib_kuka_arm_base_link"/>
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<child link="kuka_arm_1_link"/>
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</joint>
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<link name="kuka_arm_1_link">
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<inertial>
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<mass value="2.0"/>
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<origin rpy="0 0 0" xyz="0 0 0.130"/>
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<inertia ixx="0.0136666666667" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.0118666666667"/>
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</inertial>
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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_arm/arm_segment_a.dae"/>
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</geometry>
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<material name="Orange"/>
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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_arm/convex/arm_segment_a_convex.stl"/>
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</geometry>
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</collision>
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</link>
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<gazebo reference="kuka_arm_1_link">
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<material value="kuka-lwr.material"/>
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</gazebo>
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<transmission name="kuka_arm_0_trans" type="pr2_mechanism_model/SimpleTransmission">
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<actuator name="kuka_arm_0_motor"/>
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<joint name="kuka_arm_0_joint"/>
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<mechanicalReduction>1.0</mechanicalReduction>
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</transmission>
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<joint name="kuka_arm_1_joint" type="revolute">
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<origin rpy="0 0 0" xyz="0 0 0.20"/>
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<axis xyz="0 -1 0"/>
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<!--limit lower="${-120 * M_PI / 180}" upper="${120 * M_PI / 180}"
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effort="306" velocity="${arm_velocity_scale_factor * 110 * M_PI / 180}" /-->
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<!-- nalt: Reduced limits to avoid contact with table - kinda hacky, should not be done here -->
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<limit effort="306" lower="-1.57079632679" upper="1.57079632679" velocity="1.91986217719"/>
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<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.05948851735" soft_upper_limit="2.05948851735"/>
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<dynamics damping="0.1"/>
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<parent link="kuka_arm_1_link"/>
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<child link="kuka_arm_2_link"/>
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</joint>
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<link name="kuka_arm_2_link">
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<inertial>
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<mass value="2.0"/>
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<origin rpy="0 0 0" xyz="0 0.06 0.07"/>
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<inertia ixx="0.0136666666667" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.0118666666667"/>
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</inertial>
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<visual>
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<origin rpy="3.14159265359 0 3.14159265359" xyz="0 0 0.2"/>
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<geometry>
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<mesh filename="meshes_arm/arm_segment_b.dae"/>
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</geometry>
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<material name="Orange"/>
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</visual>
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<collision>
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<origin rpy="3.14159265359 0 3.14159265359" xyz="0 0 0.2"/>
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<geometry>
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<mesh filename="meshes_arm/convex/arm_segment_b_convex.stl"/>
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</geometry>
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</collision>
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</link>
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<gazebo reference="kuka_arm_2_link">
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<material value="kuka-lwr.material"/>
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</gazebo>
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<transmission name="kuka_arm_1_trans" type="pr2_mechanism_model/SimpleTransmission">
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<actuator name="kuka_arm_1_motor"/>
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<joint name="kuka_arm_1_joint"/>
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<mechanicalReduction>1.0</mechanicalReduction>
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</transmission>
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<joint name="kuka_arm_2_joint" type="revolute">
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<origin rpy="0 0 0" xyz="0 0 0.20"/>
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<axis xyz="0 0 1"/>
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<limit effort="204" lower="-2.96705972839" upper="2.96705972839" velocity="2.26892802759"/>
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<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.93215314335" soft_upper_limit="2.93215314335"/>
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<dynamics damping="0.1"/>
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<parent link="kuka_arm_2_link"/>
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<child link="kuka_arm_3_link"/>
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</joint>
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<link name="kuka_arm_3_link">
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<inertial>
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<mass value="2.0"/>
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<origin rpy="0 0 0" xyz="0 0.06 0.130"/>
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<inertia ixx="0.0136666666667" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.0118666666667"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="meshes_arm/arm_segment_a.dae"/>
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</geometry>
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<material name="Orange"/>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="meshes_arm/convex/arm_segment_a_convex.stl"/>
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</geometry>
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</collision>
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</link>
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<gazebo reference="kuka_arm_3_link">
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<material value="kuka-lwr.material"/>
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</gazebo>
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<transmission name="kuka_arm_2_trans" type="pr2_mechanism_model/SimpleTransmission">
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<actuator name="kuka_arm_2_motor"/>
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<joint name="kuka_arm_2_joint"/>
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<mechanicalReduction>1.0</mechanicalReduction>
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</transmission>
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<joint name="kuka_arm_3_joint" type="revolute">
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<origin rpy="0 0 0" xyz="0 0 0.20"/>
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<axis xyz="0 1 0"/>
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<limit effort="306" lower="-2.09439510239" upper="2.09439510239" velocity="2.26892802759"/>
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<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.05948851735" soft_upper_limit="2.05948851735"/>
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<dynamics damping="0.1"/>
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<parent link="kuka_arm_3_link"/>
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<child link="kuka_arm_4_link"/>
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</joint>
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<link name="kuka_arm_4_link">
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<inertial>
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<mass value="2.0"/>
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<origin rpy="0 0 0" xyz="0 -0.06 0.07"/>
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<inertia ixx="0.0136666666667" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.0118666666667"/>
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</inertial>
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<visual>
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<origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 0.2"/>
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<geometry>
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<mesh filename="meshes_arm/arm_segment_b.dae"/>
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</geometry>
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<material name="Orange"/>
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</visual>
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<collision>
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<origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 0.2"/>
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<geometry>
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<mesh filename="meshes_arm/convex/arm_segment_b_convex.stl"/>
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</geometry>
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</collision>
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</link>
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<gazebo reference="kuka_arm_4_link">
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<material value="kuka-lwr.material"/>
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</gazebo>
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<transmission name="kuka_arm_3_trans" type="pr2_mechanism_model/SimpleTransmission">
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<actuator name="kuka_arm_3_motor"/>
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<joint name="kuka_arm_3_joint"/>
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<mechanicalReduction>1.0</mechanicalReduction>
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</transmission>
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<joint name="kuka_arm_4_joint" type="revolute">
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<origin rpy="0 0 0" xyz="0 0 0.20"/>
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<axis xyz="0 0 1"/>
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<limit effort="204" lower="-2.96705972839" upper="2.96705972839" velocity="2.26892802759"/>
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<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.93215314335" soft_upper_limit="2.93215314335"/>
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<dynamics damping="0.1"/>
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<parent link="kuka_arm_4_link"/>
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<child link="kuka_arm_5_link"/>
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</joint>
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<link name="kuka_arm_5_link">
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<inertial>
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<mass value="2.0"/>
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<origin rpy="0 0 0" xyz="0 0 0.124"/>
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<inertia ixx="0.0126506666667" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.0108506666667"/>
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</inertial>
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<visual>
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<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
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<geometry name="kuka_arm_5_geom">
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<mesh filename="meshes_arm/arm_segment_last.dae"/>
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</geometry>
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<material name="Orange"/>
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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_arm/convex/arm_segment_last_convex.stl"/>
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</geometry>
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</collision>
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</link>
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<gazebo reference="kuka_arm_5_link">
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<material value="kuka-lwr.material"/>
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</gazebo>
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<transmission name="kuka_arm_4_trans" type="pr2_mechanism_model/SimpleTransmission">
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<actuator name="kuka_arm_4_motor"/>
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<joint name="kuka_arm_4_joint"/>
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<mechanicalReduction>1.0</mechanicalReduction>
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</transmission>
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<joint name="kuka_arm_5_joint" type="revolute">
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<origin rpy="0 0 0" xyz="0 0 0.19"/>
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<axis xyz="0 -1 0"/>
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<limit effort="306" lower="-2.09439510239" upper="2.09439510239" velocity="3.14159265359"/>
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<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.05948851735" soft_upper_limit="2.05948851735"/>
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<dynamics damping="0.1"/>
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<parent link="kuka_arm_5_link"/>
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<child link="kuka_arm_6_link"/>
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</joint>
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<link name="kuka_arm_6_link">
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<inertial>
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<mass value="2.0"/>
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<origin rpy="0 0 0" xyz="0 0 0.0625"/>
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<inertia ixx="0.00520833333333" ixy="0" ixz="0" iyy="0.00520833333333" iyz="0" izz="0.00520833333333"/>
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</inertial>
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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_arm/arm_wrist.dae"/>
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</geometry>
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<material name="Grey"/>
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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_arm/convex/arm_wrist_convex.stl"/>
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</geometry>
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</collision>
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</link>
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<gazebo reference="kuka_arm_6_link">
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<material value="kuka-lwr.material"/>
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</gazebo>
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<transmission name="kuka_arm_5_trans" type="pr2_mechanism_model/SimpleTransmission">
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<actuator name="kuka_arm_5_motor"/>
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<joint name="kuka_arm_5_joint"/>
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<mechanicalReduction>1.0</mechanicalReduction>
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</transmission>
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<joint name="kuka_arm_6_joint" type="revolute">
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<origin rpy="0 0 0" xyz="0 0 0.078"/>
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<axis xyz="0 0 1"/>
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<limit effort="204" lower="-2.96705972839" upper="2.96705972839" velocity="3.14159265359"/>
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<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.93215314335" soft_upper_limit="2.93215314335"/>
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<dynamics damping="0.1"/>
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<parent link="kuka_arm_6_link"/>
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<child link="kuka_arm_7_link"/>
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</joint>
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<link name="kuka_arm_7_link">
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<inertial>
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<mass value="2.0"/>
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<origin xyz="0 0 0"/>
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<inertia ixx="0.333333333333" ixy="0" ixz="0" iyy="0.333333333333" iyz="0" izz="0.333333333333"/>
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</inertial>
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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_arm/arm_flanche_angle.dae"/>
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</geometry>
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<material name="Grey"/>
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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_arm/convex/arm_flanche_angle__convex.stl"/>
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</geometry>
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</collision>
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</link>
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<transmission name="kuka_arm_6_trans" type="pr2_mechanism_model/SimpleTransmission">
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<actuator name="kuka_arm_6_motor"/>
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<joint name="kuka_arm_6_joint"/>
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<mechanicalReduction>1.0</mechanicalReduction>
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</transmission>
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</robot>
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Reference in New Issue
Block a user