update kuka urdf
This commit is contained in:
=
@@ -3,23 +3,19 @@
|
||||
<!-- | 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! -->
|
||||
<robot name="kuka_lwr">
|
||||
<!-- right is either 1 (for right arm) or -1 (for left arm) -->
|
||||
<link name="calib_kuka_arm_base_link">
|
||||
<inertial>
|
||||
<mass value="0"/>
|
||||
<!-- static base, disable dynamics for this link -->
|
||||
<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"/>
|
||||
<mesh filename="meshes_arm/arm_base.stl"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
@@ -30,14 +26,10 @@
|
||||
</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"/>
|
||||
@@ -45,13 +37,13 @@
|
||||
<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"/>
|
||||
<origin rpy="0 0 0" xyz="0 0.04 0.130"/>
|
||||
<inertia ixx="0.0136666666667" ixy="0" ixz="0" iyy="0.0118666666667" iyz="0" izz="0.003"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes_arm/arm_segment_a.dae"/>
|
||||
<mesh filename="meshes_arm/arm_segment_a.stl"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
@@ -62,9 +54,6 @@
|
||||
</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"/>
|
||||
@@ -77,7 +66,6 @@
|
||||
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"/>
|
||||
@@ -85,13 +73,13 @@
|
||||
<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"/>
|
||||
<origin rpy="0 0 0" xyz="0 -0.04 0.07"/>
|
||||
<inertia ixx="0.0136666666667" ixy="0" ixz="0" iyy="0.0118666666667" iyz="0" izz="0.003"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="3.14159265359 0 3.14159265359" xyz="0 0 0.2"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes_arm/arm_segment_b.dae"/>
|
||||
<mesh filename="meshes_arm/arm_segment_b.stl"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
@@ -102,9 +90,6 @@
|
||||
</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"/>
|
||||
@@ -114,7 +99,6 @@
|
||||
<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"/>
|
||||
@@ -122,13 +106,13 @@
|
||||
<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"/>
|
||||
<origin rpy="0 0 0" xyz="0 -0.04 0.130"/>
|
||||
<inertia ixx="0.0136666666667" ixy="0" ixz="0" iyy="0.0118666666667" iyz="0" izz="0.003"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes_arm/arm_segment_a.dae"/>
|
||||
<mesh filename="meshes_arm/arm_segment_a.stl"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
@@ -139,9 +123,6 @@
|
||||
</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"/>
|
||||
@@ -151,7 +132,6 @@
|
||||
<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"/>
|
||||
@@ -159,13 +139,13 @@
|
||||
<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"/>
|
||||
<origin rpy="0 0 0" xyz="0 0.04 0.07"/>
|
||||
<inertia ixx="0.0136666666667" ixy="0" ixz="0" iyy="0.0118666666667" iyz="0" izz="0.003"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 0.2"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes_arm/arm_segment_b.dae"/>
|
||||
<mesh filename="meshes_arm/arm_segment_b.stl"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
@@ -176,9 +156,6 @@
|
||||
</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"/>
|
||||
@@ -188,7 +165,6 @@
|
||||
<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"/>
|
||||
@@ -196,13 +172,13 @@
|
||||
<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"/>
|
||||
<origin rpy="0 0 0" xyz="0 0.02 0.124"/>
|
||||
<inertia ixx="0.0126506666667" ixy="0" ixz="0" iyy="0.0108506666667" iyz="0" izz="0.003"/>
|
||||
</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"/>
|
||||
<mesh filename="meshes_arm/arm_segment_last.stl"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
@@ -213,9 +189,6 @@
|
||||
</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"/>
|
||||
@@ -225,7 +198,6 @@
|
||||
<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"/>
|
||||
@@ -233,13 +205,13 @@
|
||||
<link name="kuka_arm_6_link">
|
||||
<inertial>
|
||||
<mass value="2.0"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.0625"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<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"/>
|
||||
<mesh filename="meshes_arm/arm_wrist.stl"/>
|
||||
</geometry>
|
||||
<material name="Grey"/>
|
||||
</visual>
|
||||
@@ -250,9 +222,6 @@
|
||||
</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"/>
|
||||
@@ -262,7 +231,6 @@
|
||||
<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"/>
|
||||
@@ -271,19 +239,19 @@
|
||||
<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"/>
|
||||
<inertia ixx="0.000833333333333" ixy="0" ixz="0" iyy="0.000833333333333" iyz="0" izz="0.000833333333333"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes_arm/arm_flanche_angle.dae"/>
|
||||
<mesh filename="meshes_arm/arm_flanche.stl"/>
|
||||
</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"/>
|
||||
<mesh filename="meshes_arm/convex/arm_flanche_convex.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
@@ -1,26 +1,28 @@
|
||||
<?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">
|
||||
<robot name="kuka_lwr">
|
||||
|
||||
<property name="M_PI" value="3.1415926535897931" />
|
||||
<property name="name" value="kuka" />
|
||||
<property name="name" value="kuka" />
|
||||
<!--
|
||||
Little helper macro to define the inertia matrix needed
|
||||
for links.
|
||||
-->
|
||||
<!-- width is along x axis
|
||||
length is along y axis
|
||||
height is along z axis
|
||||
-->
|
||||
<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)}"
|
||||
<inertia ixx="${mass * (height * height + length * length) / 12}"
|
||||
iyy="${mass * (width * width + height * height) / 12}"
|
||||
izz="${mass * (width * width + length * length) / 12}"
|
||||
ixy="0" iyz="0" ixz="0"/>
|
||||
</macro>
|
||||
|
||||
<!-- length is along the y-axis! -->
|
||||
<macro name="cylinder_inertia_def" params="radius length mass">
|
||||
<inertia ixx="${mass * (3 * radius * radius + length * length) / 12)}"
|
||||
iyy="${mass * radius* radius / 2)}"
|
||||
izz="${mass * (3 * radius * radius + length * length) / 12)}"
|
||||
<inertia ixx="${mass * (3 * radius * radius + length * length) / 12}"
|
||||
iyy="${mass * radius* radius / 2}"
|
||||
izz="${mass * (3 * radius * radius + length * length) / 12}"
|
||||
ixy="0" iyz="0" ixz="0"/>
|
||||
</macro>
|
||||
|
||||
@@ -32,17 +34,12 @@
|
||||
<property name="joint_damping" value="0.1" />
|
||||
|
||||
<property name="arm_velocity_scale_factor" value="1"/>
|
||||
<property name="right" value="0" />
|
||||
<property name="right" value="0" />
|
||||
<!-- right is either 1 (for right arm) or -1 (for left arm) -->
|
||||
|
||||
<joint name="${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"/>
|
||||
<mass value="0"/> <!-- static base, disable dynamics for this link -->
|
||||
<origin xyz="0 0 0.055" rpy="0 0 0"/>
|
||||
<cylinder_inertia_def radius="0.06" length="0.11"
|
||||
mass="2"/>
|
||||
@@ -51,7 +48,7 @@
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes_arm/arm_base.dae"/>
|
||||
<mesh filename="meshes_arm/arm_base.stl"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
@@ -63,19 +60,11 @@
|
||||
</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"/>
|
||||
@@ -84,7 +73,7 @@
|
||||
<link name="${name}_arm_1_link">
|
||||
<inertial>
|
||||
<mass value="${arm_elem_link_mass}"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.130"/>
|
||||
<origin rpy="0 0 0" xyz="0 0.04 0.130"/>
|
||||
<cuboid_inertia_def length="0.12" width="0.06" height="0.260"
|
||||
mass="${arm_elem_link_mass}"/>
|
||||
</inertial>
|
||||
@@ -92,7 +81,7 @@
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 ${M_PI}"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes_arm/arm_segment_a.dae"/>
|
||||
<mesh filename="meshes_arm/arm_segment_a.stl"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
@@ -105,10 +94,6 @@
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<gazebo reference="${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="${name}_arm_0_joint"/>
|
||||
@@ -123,10 +108,6 @@
|
||||
<!-- nalt: Reduced limits to avoid contact with table - kinda hacky, should not be done here -->
|
||||
<limit lower="${-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="${name}_arm_2_link"/>
|
||||
@@ -135,7 +116,7 @@
|
||||
<link name="${name}_arm_2_link">
|
||||
<inertial>
|
||||
<mass value="${arm_elem_link_mass}"/>
|
||||
<origin rpy="0 0 0" xyz="0 0.06 ${0.130 - 0.06}"/>
|
||||
<origin rpy="0 0 0" xyz="0 -0.04 ${0.130 - 0.06}"/>
|
||||
<cuboid_inertia_def length="0.12" width="0.06" height="0.260"
|
||||
mass="${arm_elem_link_mass}"/>
|
||||
</inertial>
|
||||
@@ -143,7 +124,7 @@
|
||||
<visual>
|
||||
<origin xyz="0 0 0.2" rpy="${M_PI} 0 ${M_PI}"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes_arm/arm_segment_b.dae"/>
|
||||
<mesh filename="meshes_arm/arm_segment_b.stl"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
@@ -156,10 +137,6 @@
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<gazebo reference="${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="${name}_arm_1_joint"/>
|
||||
@@ -171,10 +148,6 @@
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit lower="${-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="${name}_arm_3_link"/>
|
||||
@@ -183,7 +156,7 @@
|
||||
<link name="${name}_arm_3_link">
|
||||
<inertial>
|
||||
<mass value="${arm_elem_link_mass}"/>
|
||||
<origin rpy="0 0 0" xyz="0 0.06 0.130"/>
|
||||
<origin rpy="0 0 0" xyz="0 -0.04 0.130"/>
|
||||
<cuboid_inertia_def length="0.12" width="0.06" height="0.260"
|
||||
mass="${arm_elem_link_mass}"/>
|
||||
</inertial>
|
||||
@@ -191,7 +164,7 @@
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes_arm/arm_segment_a.dae"/>
|
||||
<mesh filename="meshes_arm/arm_segment_a.stl"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
@@ -204,10 +177,6 @@
|
||||
</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"/>
|
||||
@@ -219,10 +188,6 @@
|
||||
<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"/>
|
||||
@@ -231,7 +196,7 @@
|
||||
<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}"/>
|
||||
<origin rpy="0 0 0" xyz="0 0.04 ${0.130 - 0.06}"/>
|
||||
<cuboid_inertia_def length="0.12" width="0.06" height="0.2600"
|
||||
mass="${arm_elem_link_mass}"/>
|
||||
</inertial>
|
||||
@@ -239,7 +204,7 @@
|
||||
<visual>
|
||||
<origin xyz="0 0 0.2" rpy="0 ${M_PI} ${M_PI}"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes_arm/arm_segment_b.dae"/>
|
||||
<mesh filename="meshes_arm/arm_segment_b.stl"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
@@ -252,10 +217,6 @@
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<gazebo reference="${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="${name}_arm_3_joint"/>
|
||||
@@ -267,10 +228,6 @@
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit lower="${-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="${name}_arm_5_link"/>
|
||||
@@ -279,7 +236,7 @@
|
||||
<link name="${name}_arm_5_link">
|
||||
<inertial>
|
||||
<mass value="${arm_elem_link_mass}"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.124"/>
|
||||
<origin rpy="0 0 0" xyz="0 0.02 0.124"/>
|
||||
<cuboid_inertia_def length="0.12" width="0.06" height="0.248"
|
||||
mass="${arm_elem_link_mass}"/>
|
||||
</inertial>
|
||||
@@ -287,7 +244,7 @@
|
||||
<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"/>
|
||||
<mesh filename="meshes_arm/arm_segment_last.stl"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
@@ -300,10 +257,6 @@
|
||||
</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"/>
|
||||
@@ -315,10 +268,6 @@
|
||||
<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"/>
|
||||
@@ -327,7 +276,7 @@
|
||||
<link name="${name}_arm_6_link">
|
||||
<inertial>
|
||||
<mass value="${arm_elem_ball_link_mass}"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.0625"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<cuboid_inertia_def length="0.125" width="0.125" height="0.125"
|
||||
mass="${arm_elem_ball_link_mass}"/>
|
||||
</inertial>
|
||||
@@ -335,7 +284,7 @@
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 ${M_PI}"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes_arm/arm_wrist.dae"/>
|
||||
<mesh filename="meshes_arm/arm_wrist.stl"/>
|
||||
</geometry>
|
||||
<material name="Grey"/>
|
||||
</visual>
|
||||
@@ -348,10 +297,6 @@
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<gazebo reference="${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="${name}_arm_5_joint"/>
|
||||
@@ -363,10 +308,6 @@
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit lower="${-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="${name}_arm_7_link"/>
|
||||
@@ -376,42 +317,29 @@
|
||||
<inertial>
|
||||
<mass value="${arm_elem_end_link_mass}"/>
|
||||
<origin xyz="0 0 0"/>
|
||||
<cuboid_inertia_def length="1" width="1" height="1"
|
||||
<cuboid_inertia_def length="0.05" width="0.05" height="0.05"
|
||||
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"/>
|
||||
<mesh filename="meshes_arm/arm_flanche.stl"/>
|
||||
</geometry>
|
||||
<material name="Grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 ${right * -1/4 * M_PI + M_PI}"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes_arm/convex/arm_flanche_angle__convex.stl"/>
|
||||
<mesh filename="meshes_arm/convex/arm_flanche_convex.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="lwr_arm_hand_link" />
|
||||
|
||||
<gazebo reference="${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>
|
||||
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user