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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 | --> <!-- | This document was autogenerated by xacro from kuka_lwr_arm.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | --> <!-- | 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"> <robot name="kuka_lwr">
<!--
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) --> <!-- right is either 1 (for right arm) or -1 (for left arm) -->
<link name="calib_kuka_arm_base_link"> <link name="calib_kuka_arm_base_link">
<inertial> <inertial>
<mass value="0"/> <mass value="0"/>
<!-- static base, disable dynamics for this link -->
<origin rpy="0 0 0" xyz="0 0 0.055"/> <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"/> <inertia ixx="0.00381666666667" ixy="0" ixz="0" iyy="0.0036" iyz="0" izz="0.00381666666667"/>
</inertial> </inertial>
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="meshes_arm/arm_base.dae"/> <mesh filename="meshes_arm/arm_base.stl"/>
</geometry> </geometry>
<material name="Orange"/> <material name="Orange"/>
</visual> </visual>
@@ -30,14 +26,10 @@
</geometry> </geometry>
</collision> </collision>
</link> </link>
<gazebo reference="calib_kuka_arm_base_link">
<material value="kuka-lwr.material"/>
</gazebo>
<joint name="kuka_arm_0_joint" type="revolute"> <joint name="kuka_arm_0_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0.11"/> <origin rpy="0 0 0" xyz="0 0 0.11"/>
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<limit effort="204" lower="-2.96705972839" upper="2.96705972839" velocity="1.91986217719"/> <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"/> <dynamics damping="0.1"/>
<parent link="calib_kuka_arm_base_link"/> <parent link="calib_kuka_arm_base_link"/>
<child link="kuka_arm_1_link"/> <child link="kuka_arm_1_link"/>
@@ -45,13 +37,13 @@
<link name="kuka_arm_1_link"> <link name="kuka_arm_1_link">
<inertial> <inertial>
<mass value="2.0"/> <mass value="2.0"/>
<origin rpy="0 0 0" xyz="0 0 0.130"/> <origin rpy="0 0 0" xyz="0 0.04 0.130"/>
<inertia ixx="0.0136666666667" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.0118666666667"/> <inertia ixx="0.0136666666667" ixy="0" ixz="0" iyy="0.0118666666667" iyz="0" izz="0.003"/>
</inertial> </inertial>
<visual> <visual>
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/> <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="meshes_arm/arm_segment_a.dae"/> <mesh filename="meshes_arm/arm_segment_a.stl"/>
</geometry> </geometry>
<material name="Orange"/> <material name="Orange"/>
</visual> </visual>
@@ -62,9 +54,6 @@
</geometry> </geometry>
</collision> </collision>
</link> </link>
<gazebo reference="kuka_arm_1_link">
<material value="kuka-lwr.material"/>
</gazebo>
<transmission name="kuka_arm_0_trans" type="pr2_mechanism_model/SimpleTransmission"> <transmission name="kuka_arm_0_trans" type="pr2_mechanism_model/SimpleTransmission">
<actuator name="kuka_arm_0_motor"/> <actuator name="kuka_arm_0_motor"/>
<joint name="kuka_arm_0_joint"/> <joint name="kuka_arm_0_joint"/>
@@ -77,7 +66,6 @@
effort="306" velocity="${arm_velocity_scale_factor * 110 * M_PI / 180}" /--> effort="306" velocity="${arm_velocity_scale_factor * 110 * M_PI / 180}" /-->
<!-- nalt: Reduced limits to avoid contact with table - kinda hacky, should not be done here --> <!-- 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"/> <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"/> <dynamics damping="0.1"/>
<parent link="kuka_arm_1_link"/> <parent link="kuka_arm_1_link"/>
<child link="kuka_arm_2_link"/> <child link="kuka_arm_2_link"/>
@@ -85,13 +73,13 @@
<link name="kuka_arm_2_link"> <link name="kuka_arm_2_link">
<inertial> <inertial>
<mass value="2.0"/> <mass value="2.0"/>
<origin rpy="0 0 0" xyz="0 0.06 0.07"/> <origin rpy="0 0 0" xyz="0 -0.04 0.07"/>
<inertia ixx="0.0136666666667" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.0118666666667"/> <inertia ixx="0.0136666666667" ixy="0" ixz="0" iyy="0.0118666666667" iyz="0" izz="0.003"/>
</inertial> </inertial>
<visual> <visual>
<origin rpy="3.14159265359 0 3.14159265359" xyz="0 0 0.2"/> <origin rpy="3.14159265359 0 3.14159265359" xyz="0 0 0.2"/>
<geometry> <geometry>
<mesh filename="meshes_arm/arm_segment_b.dae"/> <mesh filename="meshes_arm/arm_segment_b.stl"/>
</geometry> </geometry>
<material name="Orange"/> <material name="Orange"/>
</visual> </visual>
@@ -102,9 +90,6 @@
</geometry> </geometry>
</collision> </collision>
</link> </link>
<gazebo reference="kuka_arm_2_link">
<material value="kuka-lwr.material"/>
</gazebo>
<transmission name="kuka_arm_1_trans" type="pr2_mechanism_model/SimpleTransmission"> <transmission name="kuka_arm_1_trans" type="pr2_mechanism_model/SimpleTransmission">
<actuator name="kuka_arm_1_motor"/> <actuator name="kuka_arm_1_motor"/>
<joint name="kuka_arm_1_joint"/> <joint name="kuka_arm_1_joint"/>
@@ -114,7 +99,6 @@
<origin rpy="0 0 0" xyz="0 0 0.20"/> <origin rpy="0 0 0" xyz="0 0 0.20"/>
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<limit effort="204" lower="-2.96705972839" upper="2.96705972839" velocity="2.26892802759"/> <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"/> <dynamics damping="0.1"/>
<parent link="kuka_arm_2_link"/> <parent link="kuka_arm_2_link"/>
<child link="kuka_arm_3_link"/> <child link="kuka_arm_3_link"/>
@@ -122,13 +106,13 @@
<link name="kuka_arm_3_link"> <link name="kuka_arm_3_link">
<inertial> <inertial>
<mass value="2.0"/> <mass value="2.0"/>
<origin rpy="0 0 0" xyz="0 0.06 0.130"/> <origin rpy="0 0 0" xyz="0 -0.04 0.130"/>
<inertia ixx="0.0136666666667" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.0118666666667"/> <inertia ixx="0.0136666666667" ixy="0" ixz="0" iyy="0.0118666666667" iyz="0" izz="0.003"/>
</inertial> </inertial>
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="meshes_arm/arm_segment_a.dae"/> <mesh filename="meshes_arm/arm_segment_a.stl"/>
</geometry> </geometry>
<material name="Orange"/> <material name="Orange"/>
</visual> </visual>
@@ -139,9 +123,6 @@
</geometry> </geometry>
</collision> </collision>
</link> </link>
<gazebo reference="kuka_arm_3_link">
<material value="kuka-lwr.material"/>
</gazebo>
<transmission name="kuka_arm_2_trans" type="pr2_mechanism_model/SimpleTransmission"> <transmission name="kuka_arm_2_trans" type="pr2_mechanism_model/SimpleTransmission">
<actuator name="kuka_arm_2_motor"/> <actuator name="kuka_arm_2_motor"/>
<joint name="kuka_arm_2_joint"/> <joint name="kuka_arm_2_joint"/>
@@ -151,7 +132,6 @@
<origin rpy="0 0 0" xyz="0 0 0.20"/> <origin rpy="0 0 0" xyz="0 0 0.20"/>
<axis xyz="0 1 0"/> <axis xyz="0 1 0"/>
<limit effort="306" lower="-2.09439510239" upper="2.09439510239" velocity="2.26892802759"/> <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"/> <dynamics damping="0.1"/>
<parent link="kuka_arm_3_link"/> <parent link="kuka_arm_3_link"/>
<child link="kuka_arm_4_link"/> <child link="kuka_arm_4_link"/>
@@ -159,13 +139,13 @@
<link name="kuka_arm_4_link"> <link name="kuka_arm_4_link">
<inertial> <inertial>
<mass value="2.0"/> <mass value="2.0"/>
<origin rpy="0 0 0" xyz="0 -0.06 0.07"/> <origin rpy="0 0 0" xyz="0 0.04 0.07"/>
<inertia ixx="0.0136666666667" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.0118666666667"/> <inertia ixx="0.0136666666667" ixy="0" ixz="0" iyy="0.0118666666667" iyz="0" izz="0.003"/>
</inertial> </inertial>
<visual> <visual>
<origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 0.2"/> <origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 0.2"/>
<geometry> <geometry>
<mesh filename="meshes_arm/arm_segment_b.dae"/> <mesh filename="meshes_arm/arm_segment_b.stl"/>
</geometry> </geometry>
<material name="Orange"/> <material name="Orange"/>
</visual> </visual>
@@ -176,9 +156,6 @@
</geometry> </geometry>
</collision> </collision>
</link> </link>
<gazebo reference="kuka_arm_4_link">
<material value="kuka-lwr.material"/>
</gazebo>
<transmission name="kuka_arm_3_trans" type="pr2_mechanism_model/SimpleTransmission"> <transmission name="kuka_arm_3_trans" type="pr2_mechanism_model/SimpleTransmission">
<actuator name="kuka_arm_3_motor"/> <actuator name="kuka_arm_3_motor"/>
<joint name="kuka_arm_3_joint"/> <joint name="kuka_arm_3_joint"/>
@@ -188,7 +165,6 @@
<origin rpy="0 0 0" xyz="0 0 0.20"/> <origin rpy="0 0 0" xyz="0 0 0.20"/>
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<limit effort="204" lower="-2.96705972839" upper="2.96705972839" velocity="2.26892802759"/> <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"/> <dynamics damping="0.1"/>
<parent link="kuka_arm_4_link"/> <parent link="kuka_arm_4_link"/>
<child link="kuka_arm_5_link"/> <child link="kuka_arm_5_link"/>
@@ -196,13 +172,13 @@
<link name="kuka_arm_5_link"> <link name="kuka_arm_5_link">
<inertial> <inertial>
<mass value="2.0"/> <mass value="2.0"/>
<origin rpy="0 0 0" xyz="0 0 0.124"/> <origin rpy="0 0 0" xyz="0 0.02 0.124"/>
<inertia ixx="0.0126506666667" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.0108506666667"/> <inertia ixx="0.0126506666667" ixy="0" ixz="0" iyy="0.0108506666667" iyz="0" izz="0.003"/>
</inertial> </inertial>
<visual> <visual>
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/> <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
<geometry name="kuka_arm_5_geom"> <geometry name="kuka_arm_5_geom">
<mesh filename="meshes_arm/arm_segment_last.dae"/> <mesh filename="meshes_arm/arm_segment_last.stl"/>
</geometry> </geometry>
<material name="Orange"/> <material name="Orange"/>
</visual> </visual>
@@ -213,9 +189,6 @@
</geometry> </geometry>
</collision> </collision>
</link> </link>
<gazebo reference="kuka_arm_5_link">
<material value="kuka-lwr.material"/>
</gazebo>
<transmission name="kuka_arm_4_trans" type="pr2_mechanism_model/SimpleTransmission"> <transmission name="kuka_arm_4_trans" type="pr2_mechanism_model/SimpleTransmission">
<actuator name="kuka_arm_4_motor"/> <actuator name="kuka_arm_4_motor"/>
<joint name="kuka_arm_4_joint"/> <joint name="kuka_arm_4_joint"/>
@@ -225,7 +198,6 @@
<origin rpy="0 0 0" xyz="0 0 0.19"/> <origin rpy="0 0 0" xyz="0 0 0.19"/>
<axis xyz="0 -1 0"/> <axis xyz="0 -1 0"/>
<limit effort="306" lower="-2.09439510239" upper="2.09439510239" velocity="3.14159265359"/> <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"/> <dynamics damping="0.1"/>
<parent link="kuka_arm_5_link"/> <parent link="kuka_arm_5_link"/>
<child link="kuka_arm_6_link"/> <child link="kuka_arm_6_link"/>
@@ -233,13 +205,13 @@
<link name="kuka_arm_6_link"> <link name="kuka_arm_6_link">
<inertial> <inertial>
<mass value="2.0"/> <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"/> <inertia ixx="0.00520833333333" ixy="0" ixz="0" iyy="0.00520833333333" iyz="0" izz="0.00520833333333"/>
</inertial> </inertial>
<visual> <visual>
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/> <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="meshes_arm/arm_wrist.dae"/> <mesh filename="meshes_arm/arm_wrist.stl"/>
</geometry> </geometry>
<material name="Grey"/> <material name="Grey"/>
</visual> </visual>
@@ -250,9 +222,6 @@
</geometry> </geometry>
</collision> </collision>
</link> </link>
<gazebo reference="kuka_arm_6_link">
<material value="kuka-lwr.material"/>
</gazebo>
<transmission name="kuka_arm_5_trans" type="pr2_mechanism_model/SimpleTransmission"> <transmission name="kuka_arm_5_trans" type="pr2_mechanism_model/SimpleTransmission">
<actuator name="kuka_arm_5_motor"/> <actuator name="kuka_arm_5_motor"/>
<joint name="kuka_arm_5_joint"/> <joint name="kuka_arm_5_joint"/>
@@ -262,7 +231,6 @@
<origin rpy="0 0 0" xyz="0 0 0.078"/> <origin rpy="0 0 0" xyz="0 0 0.078"/>
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<limit effort="204" lower="-2.96705972839" upper="2.96705972839" velocity="3.14159265359"/> <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"/> <dynamics damping="0.1"/>
<parent link="kuka_arm_6_link"/> <parent link="kuka_arm_6_link"/>
<child link="kuka_arm_7_link"/> <child link="kuka_arm_7_link"/>
@@ -271,19 +239,19 @@
<inertial> <inertial>
<mass value="2.0"/> <mass value="2.0"/>
<origin xyz="0 0 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> </inertial>
<visual> <visual>
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/> <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="meshes_arm/arm_flanche_angle.dae"/> <mesh filename="meshes_arm/arm_flanche.stl"/>
</geometry> </geometry>
<material name="Grey"/> <material name="Grey"/>
</visual> </visual>
<collision> <collision>
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/> <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="meshes_arm/convex/arm_flanche_angle__convex.stl"/> <mesh filename="meshes_arm/convex/arm_flanche_convex.stl"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>

132
data/kuka_lwr/kuka_lwr_arm.urdf.xacro
View File

@@ -1,26 +1,28 @@
<?xml version="1.0"?> <?xml version="1.0"?>
<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" <robot name="kuka_lwr">
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="M_PI" value="3.1415926535897931" />
<property name="name" value="kuka" /> <property name="name" value="kuka" />
<!-- <!--
Little helper macro to define the inertia matrix needed Little helper macro to define the inertia matrix needed
for links. 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"> <macro name="cuboid_inertia_def" params="width height length mass">
<inertia ixx="${mass * (height * height + length * length) / 12)}" <inertia ixx="${mass * (height * height + length * length) / 12}"
iyy="${mass * (width * width + length * length) / 12)}" iyy="${mass * (width * width + height * height) / 12}"
izz="${mass * (width * width + height * height) / 12)}" izz="${mass * (width * width + length * length) / 12}"
ixy="0" iyz="0" ixz="0"/> ixy="0" iyz="0" ixz="0"/>
</macro> </macro>
<!-- length is along the y-axis! --> <!-- length is along the y-axis! -->
<macro name="cylinder_inertia_def" params="radius length mass"> <macro name="cylinder_inertia_def" params="radius length mass">
<inertia ixx="${mass * (3 * radius * radius + length * length) / 12)}" <inertia ixx="${mass * (3 * radius * radius + length * length) / 12}"
iyy="${mass * radius* radius / 2)}" iyy="${mass * radius* radius / 2}"
izz="${mass * (3 * radius * radius + length * length) / 12)}" izz="${mass * (3 * radius * radius + length * length) / 12}"
ixy="0" iyz="0" ixz="0"/> ixy="0" iyz="0" ixz="0"/>
</macro> </macro>
@@ -32,17 +34,12 @@
<property name="joint_damping" value="0.1" /> <property name="joint_damping" value="0.1" />
<property name="arm_velocity_scale_factor" value="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) --> <!-- 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_${name}_arm_base_link"> <link name="calib_${name}_arm_base_link">
<inertial> <inertial>
<mass value="2"/> <mass value="0"/> <!-- static base, disable dynamics for this link -->
<origin xyz="0 0 0.055" rpy="0 0 0"/> <origin xyz="0 0 0.055" rpy="0 0 0"/>
<cylinder_inertia_def radius="0.06" length="0.11" <cylinder_inertia_def radius="0.06" length="0.11"
mass="2"/> mass="2"/>
@@ -51,7 +48,7 @@
<visual> <visual>
<origin xyz="0 0 0" rpy="0 0 0"/> <origin xyz="0 0 0" rpy="0 0 0"/>
<geometry> <geometry>
<mesh filename="meshes_arm/arm_base.dae"/> <mesh filename="meshes_arm/arm_base.stl"/>
</geometry> </geometry>
<material name="Orange"/> <material name="Orange"/>
</visual> </visual>
@@ -63,19 +60,11 @@
</collision> </collision>
</link> </link>
<gazebo reference="calib_${name}_arm_base_link">
<material value="kuka-lwr.material"/>
</gazebo>
<joint name="${name}_arm_0_joint" type="revolute"> <joint name="${name}_arm_0_joint" type="revolute">
<origin xyz="0 0 0.11" rpy="0 0 0"/> <origin xyz="0 0 0.11" rpy="0 0 0"/>
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<limit lower="${-170 * M_PI / 180}" upper="${170 * M_PI / 180}" <limit lower="${-170 * M_PI / 180}" upper="${170 * M_PI / 180}"
effort="204" velocity="${arm_velocity_scale_factor * 110 * 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}"/> <dynamics damping="${joint_damping}"/>
<parent link="calib_${name}_arm_base_link"/> <parent link="calib_${name}_arm_base_link"/>
<child link="${name}_arm_1_link"/> <child link="${name}_arm_1_link"/>
@@ -84,7 +73,7 @@
<link name="${name}_arm_1_link"> <link name="${name}_arm_1_link">
<inertial> <inertial>
<mass value="${arm_elem_link_mass}"/> <mass value="${arm_elem_link_mass}"/>
<origin rpy="0 0 0" xyz="0 0 0.130"/> <origin rpy="0 0 0" xyz="0 0.04 0.130"/>
<cuboid_inertia_def length="0.12" width="0.06" height="0.260" <cuboid_inertia_def length="0.12" width="0.06" height="0.260"
mass="${arm_elem_link_mass}"/> mass="${arm_elem_link_mass}"/>
</inertial> </inertial>
@@ -92,7 +81,7 @@
<visual> <visual>
<origin xyz="0 0 0" rpy="0 0 ${M_PI}"/> <origin xyz="0 0 0" rpy="0 0 ${M_PI}"/>
<geometry> <geometry>
<mesh filename="meshes_arm/arm_segment_a.dae"/> <mesh filename="meshes_arm/arm_segment_a.stl"/>
</geometry> </geometry>
<material name="Orange"/> <material name="Orange"/>
</visual> </visual>
@@ -105,10 +94,6 @@
</collision> </collision>
</link> </link>
<gazebo reference="${name}_arm_1_link">
<material value="kuka-lwr.material"/>
</gazebo>
<transmission name="${name}_arm_0_trans" type="pr2_mechanism_model/SimpleTransmission"> <transmission name="${name}_arm_0_trans" type="pr2_mechanism_model/SimpleTransmission">
<actuator name="${name}_arm_0_motor"/> <actuator name="${name}_arm_0_motor"/>
<joint name="${name}_arm_0_joint"/> <joint name="${name}_arm_0_joint"/>
@@ -123,10 +108,6 @@
<!-- nalt: Reduced limits to avoid contact with table - kinda hacky, should not be done here --> <!-- 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}" <limit lower="${-90 * M_PI / 180}" upper="${90 * M_PI / 180}"
effort="306" velocity="${arm_velocity_scale_factor * 110 * M_PI / 180}" /> effort="306" velocity="${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="${joint_damping}"/> <dynamics damping="${joint_damping}"/>
<parent link="${name}_arm_1_link"/> <parent link="${name}_arm_1_link"/>
<child link="${name}_arm_2_link"/> <child link="${name}_arm_2_link"/>
@@ -135,7 +116,7 @@
<link name="${name}_arm_2_link"> <link name="${name}_arm_2_link">
<inertial> <inertial>
<mass value="${arm_elem_link_mass}"/> <mass value="${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 ${0.130 - 0.06}"/>
<cuboid_inertia_def length="0.12" width="0.06" height="0.260" <cuboid_inertia_def length="0.12" width="0.06" height="0.260"
mass="${arm_elem_link_mass}"/> mass="${arm_elem_link_mass}"/>
</inertial> </inertial>
@@ -143,7 +124,7 @@
<visual> <visual>
<origin xyz="0 0 0.2" rpy="${M_PI} 0 ${M_PI}"/> <origin xyz="0 0 0.2" rpy="${M_PI} 0 ${M_PI}"/>
<geometry> <geometry>
<mesh filename="meshes_arm/arm_segment_b.dae"/> <mesh filename="meshes_arm/arm_segment_b.stl"/>
</geometry> </geometry>
<material name="Orange"/> <material name="Orange"/>
</visual> </visual>
@@ -156,10 +137,6 @@
</collision> </collision>
</link> </link>
<gazebo reference="${name}_arm_2_link">
<material value="kuka-lwr.material"/>
</gazebo>
<transmission name="${name}_arm_1_trans" type="pr2_mechanism_model/SimpleTransmission"> <transmission name="${name}_arm_1_trans" type="pr2_mechanism_model/SimpleTransmission">
<actuator name="${name}_arm_1_motor"/> <actuator name="${name}_arm_1_motor"/>
<joint name="${name}_arm_1_joint"/> <joint name="${name}_arm_1_joint"/>
@@ -171,10 +148,6 @@
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<limit lower="${-170 * M_PI / 180}" upper="${170 * M_PI / 180}" <limit lower="${-170 * M_PI / 180}" upper="${170 * M_PI / 180}"
effort="204" velocity="${arm_velocity_scale_factor * 130 * M_PI / 180}" /> effort="204" velocity="${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="${joint_damping}"/> <dynamics damping="${joint_damping}"/>
<parent link="${name}_arm_2_link"/> <parent link="${name}_arm_2_link"/>
<child link="${name}_arm_3_link"/> <child link="${name}_arm_3_link"/>
@@ -183,7 +156,7 @@
<link name="${name}_arm_3_link"> <link name="${name}_arm_3_link">
<inertial> <inertial>
<mass value="${arm_elem_link_mass}"/> <mass value="${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" <cuboid_inertia_def length="0.12" width="0.06" height="0.260"
mass="${arm_elem_link_mass}"/> mass="${arm_elem_link_mass}"/>
</inertial> </inertial>
@@ -191,7 +164,7 @@
<visual> <visual>
<origin xyz="0 0 0" rpy="0 0 0"/> <origin xyz="0 0 0" rpy="0 0 0"/>
<geometry> <geometry>
<mesh filename="meshes_arm/arm_segment_a.dae"/> <mesh filename="meshes_arm/arm_segment_a.stl"/>
</geometry> </geometry>
<material name="Orange"/> <material name="Orange"/>
</visual> </visual>
@@ -204,10 +177,6 @@
</collision> </collision>
</link> </link>
<gazebo reference="${name}_arm_3_link">
<material value="kuka-lwr.material"/>
</gazebo>
<transmission name="${name}_arm_2_trans" type="pr2_mechanism_model/SimpleTransmission"> <transmission name="${name}_arm_2_trans" type="pr2_mechanism_model/SimpleTransmission">
<actuator name="${name}_arm_2_motor"/> <actuator name="${name}_arm_2_motor"/>
<joint name="${name}_arm_2_joint"/> <joint name="${name}_arm_2_joint"/>
@@ -219,10 +188,6 @@
<axis xyz="0 1 0"/> <axis xyz="0 1 0"/>
<limit lower="${-120 * M_PI / 180}" upper="${120 * M_PI / 180}" <limit lower="${-120 * M_PI / 180}" upper="${120 * M_PI / 180}"
effort="306" velocity="${arm_velocity_scale_factor * 130 * 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}"/> <dynamics damping="${joint_damping}"/>
<parent link="${name}_arm_3_link"/> <parent link="${name}_arm_3_link"/>
<child link="${name}_arm_4_link"/> <child link="${name}_arm_4_link"/>
@@ -231,7 +196,7 @@
<link name="${name}_arm_4_link"> <link name="${name}_arm_4_link">
<inertial> <inertial>
<mass value="${arm_elem_link_mass}"/> <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 ${0.130 - 0.06}"/>
<cuboid_inertia_def length="0.12" width="0.06" height="0.2600" <cuboid_inertia_def length="0.12" width="0.06" height="0.2600"
mass="${arm_elem_link_mass}"/> mass="${arm_elem_link_mass}"/>
</inertial> </inertial>
@@ -239,7 +204,7 @@
<visual> <visual>
<origin xyz="0 0 0.2" rpy="0 ${M_PI} ${M_PI}"/> <origin xyz="0 0 0.2" rpy="0 ${M_PI} ${M_PI}"/>
<geometry> <geometry>
<mesh filename="meshes_arm/arm_segment_b.dae"/> <mesh filename="meshes_arm/arm_segment_b.stl"/>
</geometry> </geometry>
<material name="Orange"/> <material name="Orange"/>
</visual> </visual>
@@ -252,10 +217,6 @@
</collision> </collision>
</link> </link>
<gazebo reference="${name}_arm_4_link">
<material value="kuka-lwr.material"/>
</gazebo>
<transmission name="${name}_arm_3_trans" type="pr2_mechanism_model/SimpleTransmission"> <transmission name="${name}_arm_3_trans" type="pr2_mechanism_model/SimpleTransmission">
<actuator name="${name}_arm_3_motor"/> <actuator name="${name}_arm_3_motor"/>
<joint name="${name}_arm_3_joint"/> <joint name="${name}_arm_3_joint"/>
@@ -267,10 +228,6 @@
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<limit lower="${-170 * M_PI / 180}" upper="${170 * M_PI / 180}" <limit lower="${-170 * M_PI / 180}" upper="${170 * M_PI / 180}"
effort="204" velocity="${arm_velocity_scale_factor * 130 * M_PI / 180}" /> effort="204" velocity="${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="${joint_damping}"/> <dynamics damping="${joint_damping}"/>
<parent link="${name}_arm_4_link"/> <parent link="${name}_arm_4_link"/>
<child link="${name}_arm_5_link"/> <child link="${name}_arm_5_link"/>
@@ -279,7 +236,7 @@
<link name="${name}_arm_5_link"> <link name="${name}_arm_5_link">
<inertial> <inertial>
<mass value="${arm_elem_link_mass}"/> <mass value="${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" <cuboid_inertia_def length="0.12" width="0.06" height="0.248"
mass="${arm_elem_link_mass}"/> mass="${arm_elem_link_mass}"/>
</inertial> </inertial>
@@ -287,7 +244,7 @@
<visual> <visual>
<origin xyz="0 0 0" rpy="0 0 ${M_PI}"/> <origin xyz="0 0 0" rpy="0 0 ${M_PI}"/>
<geometry name="${name}_arm_5_geom"> <geometry name="${name}_arm_5_geom">
<mesh filename="meshes_arm/arm_segment_last.dae"/> <mesh filename="meshes_arm/arm_segment_last.stl"/>
</geometry> </geometry>
<material name="Orange"/> <material name="Orange"/>
</visual> </visual>
@@ -300,10 +257,6 @@
</collision> </collision>
</link> </link>
<gazebo reference="${name}_arm_5_link">
<material value="kuka-lwr.material"/>
</gazebo>
<transmission name="${name}_arm_4_trans" type="pr2_mechanism_model/SimpleTransmission"> <transmission name="${name}_arm_4_trans" type="pr2_mechanism_model/SimpleTransmission">
<actuator name="${name}_arm_4_motor"/> <actuator name="${name}_arm_4_motor"/>
<joint name="${name}_arm_4_joint"/> <joint name="${name}_arm_4_joint"/>
@@ -315,10 +268,6 @@
<axis xyz="0 -1 0"/> <axis xyz="0 -1 0"/>
<limit lower="${-120 * M_PI / 180}" upper="${120 * M_PI / 180}" <limit lower="${-120 * M_PI / 180}" upper="${120 * M_PI / 180}"
effort="306" velocity="${arm_velocity_scale_factor * 180 * M_PI / 180}" /> effort="306" velocity="${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="${joint_damping}"/> <dynamics damping="${joint_damping}"/>
<parent link="${name}_arm_5_link"/> <parent link="${name}_arm_5_link"/>
<child link="${name}_arm_6_link"/> <child link="${name}_arm_6_link"/>
@@ -327,7 +276,7 @@
<link name="${name}_arm_6_link"> <link name="${name}_arm_6_link">
<inertial> <inertial>
<mass value="${arm_elem_ball_link_mass}"/> <mass value="${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" <cuboid_inertia_def length="0.125" width="0.125" height="0.125"
mass="${arm_elem_ball_link_mass}"/> mass="${arm_elem_ball_link_mass}"/>
</inertial> </inertial>
@@ -335,7 +284,7 @@
<visual> <visual>
<origin xyz="0 0 0" rpy="0 0 ${M_PI}"/> <origin xyz="0 0 0" rpy="0 0 ${M_PI}"/>
<geometry> <geometry>
<mesh filename="meshes_arm/arm_wrist.dae"/> <mesh filename="meshes_arm/arm_wrist.stl"/>
</geometry> </geometry>
<material name="Grey"/> <material name="Grey"/>
</visual> </visual>
@@ -348,10 +297,6 @@
</collision> </collision>
</link> </link>
<gazebo reference="${name}_arm_6_link">
<material value="kuka-lwr.material"/>
</gazebo>
<transmission name="${name}_arm_5_trans" type="pr2_mechanism_model/SimpleTransmission"> <transmission name="${name}_arm_5_trans" type="pr2_mechanism_model/SimpleTransmission">
<actuator name="${name}_arm_5_motor"/> <actuator name="${name}_arm_5_motor"/>
<joint name="${name}_arm_5_joint"/> <joint name="${name}_arm_5_joint"/>
@@ -363,10 +308,6 @@
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<limit lower="${-170 * M_PI / 180}" upper="${170 * M_PI / 180}" <limit lower="${-170 * M_PI / 180}" upper="${170 * M_PI / 180}"
effort="204" velocity="${arm_velocity_scale_factor * 180 * M_PI / 180}" /> effort="204" velocity="${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="${joint_damping}"/> <dynamics damping="${joint_damping}"/>
<parent link="${name}_arm_6_link"/> <parent link="${name}_arm_6_link"/>
<child link="${name}_arm_7_link"/> <child link="${name}_arm_7_link"/>
@@ -376,43 +317,30 @@
<inertial> <inertial>
<mass value="${arm_elem_end_link_mass}"/> <mass value="${arm_elem_end_link_mass}"/>
<origin xyz="0 0 0"/> <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="${arm_elem_end_link_mass}"/> mass="${arm_elem_end_link_mass}"/>
</inertial> </inertial>
<visual> <visual>
<origin xyz="0 0 0" rpy="0 0 ${right * -1/4 * M_PI + M_PI}"/> <origin xyz="0 0 0" rpy="0 0 ${right * -1/4 * M_PI + M_PI}"/>
<geometry> <geometry>
<mesh filename="meshes_arm/arm_flanche_angle.dae"/> <mesh filename="meshes_arm/arm_flanche.stl"/>
</geometry> </geometry>
<material name="Grey"/> <material name="Grey"/>
</visual> </visual>
<collision> <collision>
<origin xyz="0 0 0" rpy="0 0 ${right * -1/4 * M_PI + M_PI}"/> <origin xyz="0 0 0" rpy="0 0 ${right * -1/4 * M_PI + M_PI}"/>
<geometry> <geometry>
<mesh filename="meshes_arm/convex/arm_flanche_angle__convex.stl"/> <mesh filename="meshes_arm/convex/arm_flanche_convex.stl"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
<link name="lwr_arm_hand_link" />
<gazebo reference="${name}_arm_7_link">
<material value="kuka-lwr.material"/>
</gazebo>
<transmission name="${name}_arm_6_trans" type="pr2_mechanism_model/SimpleTransmission"> <transmission name="${name}_arm_6_trans" type="pr2_mechanism_model/SimpleTransmission">
<actuator name="${name}_arm_6_motor"/> <actuator name="${name}_arm_6_motor"/>
<joint name="${name}_arm_6_joint"/> <joint name="${name}_arm_6_joint"/>
<mechanicalReduction>1.0</mechanicalReduction> <mechanicalReduction>1.0</mechanicalReduction>
</transmission> </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> </robot>