339 lines
11 KiB
XML
339 lines
11 KiB
XML
<?xml version="1.0" ?>
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<!-- =================================================================================== -->
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<!-- | This document was autogenerated by xacro from panda_arm_hand.urdf.xacro | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
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<robot name="panda" xmlns:xacro="http://www.ros.org/wiki/xacro">
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<link name="panda_link0">
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0.05"/>
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<mass value="2.9"/>
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<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
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</inertial>
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<visual>
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<geometry>
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<mesh filename="package://meshes/collision/link0.obj"/>
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</geometry>
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<material name="panda_white">
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<color rgba="1. 1. 1. 1."/>
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</material>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://meshes/collision/link0.obj"/>
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</geometry>
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<material name="panda_white"/>
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</collision>
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</link>
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<link name="panda_link1">
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<inertial>
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<origin rpy="0 0 0" xyz="0 -0.04 -0.05"/>
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<mass value="2.7"/>
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<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
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</inertial>
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<visual>
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<geometry>
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<mesh filename="package://meshes/visual/link1.obj"/>
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</geometry>
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<material name="panda_white"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://meshes/collision/link1.obj"/>
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</geometry>
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<material name="panda_white"/>
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</collision>
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</link>
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<joint name="panda_joint1" type="revolute">
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<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
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<origin rpy="0 0 0" xyz="0 0 0.333"/>
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<parent link="panda_link0"/>
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<child link="panda_link1"/>
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<axis xyz="0 0 1"/>
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<limit effort="87" lower="-2.9671" upper="2.9671" velocity="2.1750"/>
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</joint>
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<link name="panda_link2">
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<inertial>
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<origin rpy="0 0 0" xyz="0 -0.04 0.06"/>
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<mass value="2.73"/>
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<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
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</inertial>
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<visual>
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<geometry>
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<mesh filename="package://meshes/visual/link2.obj"/>
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</geometry>
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<material name="panda_white"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://meshes/collision/link2.obj"/>
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</geometry>
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<material name="panda_white"/>
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</collision>
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</link>
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<joint name="panda_joint2" type="revolute">
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<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"/>
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<origin rpy="-1.57079632679 0 0" xyz="0 0 0"/>
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<parent link="panda_link1"/>
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<child link="panda_link2"/>
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<axis xyz="0 0 1"/>
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<limit effort="87" lower="-1.8326" upper="1.8326" velocity="2.1750"/>
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</joint>
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<link name="panda_link3">
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<inertial>
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<origin rpy="0 0 0" xyz="0.01 0.01 -0.05"/>
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<mass value="2.04"/>
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<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
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</inertial>
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<visual>
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<geometry>
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<mesh filename="package://meshes/visual/link3.obj"/>
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</geometry>
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<material name="panda_red">
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<color rgba="1. 1. 1. 1."/>
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</material>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://meshes/collision/link3.obj"/>
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</geometry>
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</collision>
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</link>
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<joint name="panda_joint3" type="revolute">
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<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
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<origin rpy="1.57079632679 0 0" xyz="0 -0.316 0"/>
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<parent link="panda_link2"/>
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<child link="panda_link3"/>
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<axis xyz="0 0 1"/>
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<limit effort="87" lower="-2.9671" upper="2.9671" velocity="2.1750"/>
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</joint>
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<link name="panda_link4">
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<inertial>
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<origin rpy="0 0 0" xyz="-0.03 0.03 0.02"/>
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<mass value="2.08"/>
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<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
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</inertial>
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<visual>
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<geometry>
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<mesh filename="package://meshes/visual/link4.obj"/>
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</geometry>
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<material name="panda_white"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://meshes/collision/link4.obj"/>
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</geometry>
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<material name="panda_white"/>
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</collision>
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</link>
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<joint name="panda_joint4" type="revolute">
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<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698"/>
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<origin rpy="1.57079632679 0 0" xyz="0.0825 0 0"/>
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<parent link="panda_link3"/>
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<child link="panda_link4"/>
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<axis xyz="0 0 1"/>
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<limit effort="87" lower="-3.1416" upper="0.0" velocity="2.1750"/>
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</joint>
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<link name="panda_link5">
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<inertial>
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<origin rpy="0 0 0" xyz="0 0.04 -0.12"/>
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<mass value="3"/>
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<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
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</inertial>
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<visual>
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<geometry>
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<mesh filename="package://meshes/visual/link5.obj"/>
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</geometry>
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<material name="panda_white"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://meshes/collision/link5.obj"/>
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</geometry>
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<material name="panda_white"/>
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</collision>
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</link>
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<joint name="panda_joint5" type="revolute">
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<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
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<origin rpy="-1.57079632679 0 0" xyz="-0.0825 0.384 0"/>
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<parent link="panda_link4"/>
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<child link="panda_link5"/>
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<axis xyz="0 0 1"/>
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<limit effort="12" lower="-2.9671" upper="2.9671" velocity="2.6100"/>
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</joint>
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<link name="panda_link6">
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<inertial>
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<origin rpy="0 0 0" xyz="0.04 0 0"/>
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<mass value="1.3"/>
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<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
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</inertial>
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<visual>
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<geometry>
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<mesh filename="package://meshes/visual/link6.obj"/>
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</geometry>
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<material name="panda_white"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://meshes/collision/link6.obj"/>
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</geometry>
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<material name="panda_white"/>
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</collision>
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</link>
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<joint name="panda_joint6" type="revolute">
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<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"/>
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<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
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<parent link="panda_link5"/>
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<child link="panda_link6"/>
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<axis xyz="0 0 1"/>
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<limit effort="12" lower="-0.0873" upper="3.8223" velocity="2.6100"/>
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</joint>
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<link name="panda_link7">
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0.08"/>
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<mass value=".2"/>
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<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
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</inertial>
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<visual>
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<geometry>
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<mesh filename="package://meshes/collision/link7.obj"/>
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</geometry>
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<material name="panda_white"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://meshes/collision/link7.obj"/>
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</geometry>
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<material name="panda_white"/>
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</collision>
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</link>
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<joint name="panda_joint7" type="revolute">
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<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
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<origin rpy="1.57079632679 0 0" xyz="0.088 0 0"/>
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<parent link="panda_link6"/>
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<child link="panda_link7"/>
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<axis xyz="0 0 1"/>
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<limit effort="12" lower="-2.9671" upper="2.9671" velocity="2.6100"/>
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</joint>
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<link name="panda_link8">
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value="0.0"/>
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<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
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</inertial>
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</link>
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<joint name="panda_joint8" type="fixed">
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<origin rpy="0 0 0" xyz="0 0 0.107"/>
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<parent link="panda_link7"/>
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<child link="panda_link8"/>
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<axis xyz="0 0 0"/>
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</joint>
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<joint name="panda_hand_joint" type="fixed">
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<parent link="panda_link8"/>
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<child link="panda_hand"/>
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<origin rpy="0 0 -0.785398163397" xyz="0 0 0"/>
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</joint>
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<link name="panda_hand">
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0.04"/>
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<mass value=".81"/>
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<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
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</inertial>
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<visual>
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<geometry>
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<mesh filename="package://meshes/visual/hand.obj"/>
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</geometry>
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<material name="panda_white"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://meshes/collision/hand.obj"/>
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</geometry>
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<material name="panda_white"/>
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</collision>
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</link>
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<link name="panda_leftfinger">
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<contact>
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<friction_anchor/>
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<stiffness value="30000.0"/>
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<damping value="1000.0"/>
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<spinning_friction value="0.1"/>
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<lateral_friction value="1.0"/>
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</contact>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0.01 0.02"/>
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<mass value="0.1"/>
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<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
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</inertial>
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<visual>
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<geometry>
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<mesh filename="package://meshes/visual/finger.obj"/>
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</geometry>
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<material name="panda_white"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://meshes/collision/finger.obj"/>
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</geometry>
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<material name="panda_white"/>
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</collision>
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</link>
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<link name="panda_rightfinger">
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<contact>
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<friction_anchor/>
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<stiffness value="30000.0"/>
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<damping value="1000.0"/>
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<spinning_friction value="0.1"/>
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<lateral_friction value="1.0"/>
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</contact>
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<inertial>
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<origin rpy="0 0 0" xyz="0 -0.01 0.02"/>
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<mass value="0.1"/>
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<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
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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="package://meshes/visual/finger.obj"/>
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</geometry>
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<material name="panda_white"/>
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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="package://meshes/collision/finger.obj"/>
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</geometry>
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<material name="panda_white"/>
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</collision>
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</link>
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<joint name="panda_finger_joint1" type="prismatic">
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<parent link="panda_hand"/>
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<child link="panda_leftfinger"/>
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<origin rpy="0 0 0" xyz="0 0 0.0584"/>
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<axis xyz="0 1 0"/>
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<limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
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</joint>
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<joint name="panda_finger_joint2" type="prismatic">
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<parent link="panda_hand"/>
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<child link="panda_rightfinger"/>
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<origin rpy="0 0 0" xyz="0 0 0.0584"/>
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<axis xyz="0 -1 0"/>
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<limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
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<mimic joint="panda_finger_joint1"/>
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</joint>
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<link name="panda_grasptarget">
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value="0.0"/>
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<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
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</inertial>
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</link>
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<joint name="panda_grasptarget_hand" type="fixed">
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<parent link="panda_hand"/>
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<child link="panda_grasptarget"/>
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<origin rpy="0 0 0" xyz="0 0 0.105"/>
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</joint>
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</robot>
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