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update kuka urdf

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2015-08-19 16:05:32 -07:00
parent 9c71a0bb7a
commit 89765ceccf
2 changed files with 53 additions and 157 deletions
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78
data/kuka_lwr/kuka.urdf
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@@ -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>