urdf/open_manipulator.urdf

   1 <?xml version="1.0" encoding="utf-8"?>
   2 <!-- =================================================================================== -->
   3 <!-- |    This document was autogenerated by xacro from open_manipulator.urdf.xacro    | -->
   4 <!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
   5 <!-- =================================================================================== -->
   6 <!-- Open_Manipulator Chain -->
   7 <robot name="open_manipulator" xmlns:xacro="http://ros.org/wiki/xacro">
   8   <!-- World -->
   9   <gazebo reference="world">
  10   </gazebo>
  11   <gazebo reference="link1">
  12     <kp>1000000.0</kp>
  13     <kd>100.0</kd>
  14     <mu1>30.0</mu1>
  15     <mu2>30.0</mu2>
  16     <maxVel>1.0</maxVel>
  17     <minDepth>0.001</minDepth>
  18     <material>Gazebo/DarkGrey</material>
  19   </gazebo>
  20   <gazebo reference="link2">
  21     <kp>1000000.0</kp>
  22     <kd>100.0</kd>
  23     <mu1>30.0</mu1>
  24     <mu2>30.0</mu2>
  25     <maxVel>1.0</maxVel>
  26     <minDepth>0.001</minDepth>
  27     <material>Gazebo/DarkGrey</material>
  28   </gazebo>
  29   <gazebo reference="link3">
  30     <kp>1000000.0</kp>
  31     <kd>100.0</kd>
  32     <mu1>30.0</mu1>
  33     <mu2>30.0</mu2>
  34     <maxVel>1.0</maxVel>
  35     <minDepth>0.001</minDepth>
  36     <material>Gazebo/DarkGrey</material>
  37   </gazebo>
  38   <gazebo reference="link4">
  39     <kp>1000000.0</kp>
  40     <kd>100.0</kd>
  41     <mu1>30.0</mu1>
  42     <mu2>30.0</mu2>
  43     <maxVel>1.0</maxVel>
  44     <minDepth>0.001</minDepth>
  45     <material>Gazebo/DarkGrey</material>
  46   </gazebo>
  47   <gazebo reference="link5">
  48     <kp>1000000.0</kp>
  49     <kd>100.0</kd>
  50     <mu1>30.0</mu1>
  51     <mu2>30.0</mu2>
  52     <maxVel>1.0</maxVel>
  53     <minDepth>0.001</minDepth>
  54     <material>Gazebo/DarkGrey</material>
  55   </gazebo>
  56   <gazebo reference="gripper_link">
  57     <kp>1000000.0</kp>
  58     <kd>100.0</kd>
  59     <mu1>30.0</mu1>
  60     <mu2>30.0</mu2>
  61     <maxVel>1.0</maxVel>
  62     <minDepth>0.001</minDepth>
  63     <material>Gazebo/DarkGrey</material>
  64   </gazebo>
  65   <gazebo reference="gripper_link_sub">
  66     <kp>1000000.0</kp>
  67     <kd>100.0</kd>
  68     <mu1>30.0</mu1>
  69     <mu2>30.0</mu2>
  70     <maxVel>1.0</maxVel>
  71     <minDepth>0.001</minDepth>
  72     <material>Gazebo/DarkGrey</material>
  73   </gazebo>
  74   <!-- end effector link -->
  75   <gazebo reference="end_effector_link">
  76     <material>Gazebo/Red</material>
  77   </gazebo>
  78   <!-- ros_control plugin -->
  79   <gazebo>
  80     <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
  81       <robotNamespace>open_manipulator</robotNamespace>
  82       <controlPeriod>0.001</controlPeriod>
  83       <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
  84       <legacyModeNS>true</legacyModeNS>
  85     </plugin>
  86   </gazebo>
  87   <material name="black">
  88     <color rgba="0.0 0.0 0.0 1.0"/>
  89   </material>
  90   <material name="white">
  91     <color rgba="1.0 1.0 1.0 1.0"/>
  92   </material>
  93   <material name="red">
  94     <color rgba="0.8 0.0 0.0 1.0"/>
  95   </material>
  96   <material name="blue">
  97     <color rgba="0.0 0.0 0.8 1.0"/>
  98   </material>
  99   <material name="green">
 100     <color rgba="0.0 0.8 0.0 1.0"/>
 101   </material>
 102   <material name="grey">
 103     <color rgba="0.5 0.5 0.5 1.0"/>
 104   </material>
 105   <material name="orange">
 106     <color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
 107   </material>
 108   <material name="brown">
 109     <color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
 110   </material>
 111   <!-- Link 1 -->
 112   <link name="link1">
 113     <visual>
 114       <origin rpy="0 0 0" xyz="0 0 0"/>
 115       <geometry>
 116         <mesh filename="package://open_manipulator_description/meshes/chain_link1.stl" scale="0.001 0.001 0.001"/>
 117       </geometry>
 118       <material name="grey"/>
 119     </visual>
 120     <collision>
 121       <origin rpy="0 0 0" xyz="0 0 0"/>
 122       <geometry>
 123         <mesh filename="package://open_manipulator_description/meshes/chain_link1.stl" scale="0.001 0.001 0.001"/>
 124       </geometry>
 125     </collision>
 126     <!--    <inertial>
 127       <origin xyz="0 0 0" />
 128       <mass value="0.082" />
 129       <inertia ixx="0.1" ixy="0.0" ixz="0.0"
 130                iyy="0.1" iyz="0.0"
 131                izz="0.1" />
 132     </inertial>-->
 133     <inertial>
 134       <origin xyz="3.0876154e-04 0.0000000e+00 -1.2176461e-04"/>
 135       <mass value="7.9119962e-02"/>
 136       <inertia ixx="1.2505234e-05" ixy="0.0" ixz="-1.7855208e-07" iyy="2.1898364e-05" iyz="0.0" izz="1.9267361e-05"/>
 137     </inertial>
 138   </link>
 139   <!-- Joint 1 -->
 140   <joint name="joint1" type="revolute">
 141     <parent link="link1"/>
 142     <child link="link2"/>
 143     <origin rpy="0 0 0" xyz="0.012 0.0 0.017"/>
 144     <axis xyz="0 0 1"/>
 145     <limit effort="1" lower="-3.14159265359" upper="3.14159265359" velocity="4.8"/>
 146   </joint>
 147   <transmission name="tran1">
 148     <type>transmission_interface/SimpleTransmission</type>
 149     <joint name="joint1">
 150       <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
 151     </joint>
 152     <actuator name="motor1">
 153       <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
 154       <mechanicalReduction>1</mechanicalReduction>
 155     </actuator>
 156   </transmission>
 157   <!--  Link 2 -->
 158   <link name="link2">
 159     <visual>
 160       <origin rpy="0 0 0" xyz="0 0 0.019"/>
 161       <geometry>
 162         <mesh filename="package://open_manipulator_description/meshes/chain_link2.stl" scale="0.001 0.001 0.001"/>
 163       </geometry>
 164       <material name="grey"/>
 165     </visual>
 166     <collision>
 167       <origin rpy="0 0 0" xyz="0 0 0.019"/>
 168       <geometry>
 169         <mesh filename="package://open_manipulator_description/meshes/chain_link2.stl" scale="0.001 0.001 0.001"/>
 170       </geometry>
 171     </collision>
 172     <!--    <inertial>
 173       <origin xyz="0 0 0" />
 174       <mass value="0.098" />
 175       <inertia ixx="0.1" ixy="0.0" ixz="0.0"
 176                iyy="0.1" iyz="0.0"
 177                izz="0.1" />
 178     </inertial>-->
 179     <inertial>
 180       <origin xyz="-3.0184870e-04 5.4043684e-04 0.047433464"/>
 181       <mass value="9.8406837e-02"/>
 182       <inertia ixx="3.4543422e-05" ixy="-1.6031095e-08" ixz="-3.8375155e-07" iyy="3.2689329e-05" iyz="2.8511935e-08" izz="1.8850320e-05"/>
 183     </inertial>
 184   </link>
 185   <!--  Joint 2 -->
 186   <joint name="joint2" type="revolute">
 187     <parent link="link2"/>
 188     <child link="link3"/>
 189     <origin rpy="0 0 0" xyz="0.0 0.0 0.0595"/>
 190     <axis xyz="0 1 0"/>
 191     <limit effort="1" lower="-2.0106192983" upper="2.0106192983" velocity="4.8"/>
 192   </joint>
 193   <transmission name="tran2">
 194     <type>transmission_interface/SimpleTransmission</type>
 195     <joint name="joint2">
 196       <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
 197     </joint>
 198     <actuator name="motor2">
 199       <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
 200       <mechanicalReduction>1</mechanicalReduction>
 201     </actuator>
 202   </transmission>
 203   <!--  Link 3 -->
 204   <link name="link3">
 205     <visual>
 206       <origin rpy="0 0 0" xyz="0 0 0"/>
 207       <geometry>
 208         <mesh filename="package://open_manipulator_description/meshes/chain_link3.stl" scale="0.001 0.001 0.001"/>
 209       </geometry>
 210       <material name="grey"/>
 211     </visual>
 212     <collision>
 213       <origin rpy="0 0 0" xyz="0 0 0"/>
 214       <geometry>
 215         <mesh filename="package://open_manipulator_description/meshes/chain_link3.stl" scale="0.001 0.001 0.001"/>
 216       </geometry>
 217     </collision>
 218     <!--    <inertial>
 219       <origin xyz="0 0 0" />
 220       <mass value="0.136" />
 221       <inertia ixx="0.1" ixy="0.0" ixz="0.0"
 222                iyy="0.1" iyz="0.0"
 223                izz="0.1" />
 224     </inertial>-->
 225     <inertial>
 226       <origin xyz="1.0308393e-02 3.7743363e-04 1.0170197e-01"/>
 227       <mass value="1.3850917e-01"/>
 228       <inertia ixx="3.3055381e-04" ixy="-9.7940978e-08" ixz="-3.8505711e-05" iyy="3.4290447e-04" iyz="-1.5717516e-06" izz="6.0346498e-05"/>
 229     </inertial>
 230   </link>
 231   <!--  Joint 3 -->
 232   <joint name="joint3" type="revolute">
 233     <parent link="link3"/>
 234     <child link="link4"/>
 235     <origin rpy="0 0 0" xyz="0.024 0 0.128"/>
 236     <axis xyz="0 1 0"/>
 237     <limit effort="1" lower="-2.0106192983" upper="1.50796447372" velocity="4.8"/>
 238   </joint>
 239   <transmission name="tran3">
 240     <type>transmission_interface/SimpleTransmission</type>
 241     <joint name="joint3">
 242       <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
 243     </joint>
 244     <actuator name="motor3">
 245       <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
 246       <mechanicalReduction>1</mechanicalReduction>
 247     </actuator>
 248   </transmission>
 249   <!--  Link 4 -->
 250   <link name="link4">
 251     <visual>
 252       <origin rpy="0 0 0" xyz="0 0 0"/>
 253       <geometry>
 254         <mesh filename="package://open_manipulator_description/meshes/chain_link4.stl" scale="0.001 0.001 0.001"/>
 255       </geometry>
 256       <material name="grey"/>
 257     </visual>
 258     <collision>
 259       <origin rpy="0 0 0" xyz="0 0 0"/>
 260       <geometry>
 261         <mesh filename="package://open_manipulator_description/meshes/chain_link4.stl" scale="0.001 0.001 0.001"/>
 262       </geometry>
 263     </collision>
 264     <!--    <inertial>
 265       <origin xyz="0 0 0" />
 266       <mass value="0.131" />
 267       <inertia ixx="0.1" ixy="0.0" ixz="0.0"
 268                iyy="0.1" iyz="0.0"
 269                izz="0.1" />
 270     </inertial>-->
 271     <inertial>
 272       <origin xyz="9.0909590e-02 3.8929816e-04 2.2413279e-04"/>
 273       <mass value="1.3274562e-01"/>
 274       <inertia ixx="3.0654178e-05" ixy="-1.2764155e-06" ixz="-2.6874417e-07" iyy="2.4230292e-04" iyz="1.1559550e-08" izz="2.5155057e-04"/>
 275     </inertial>
 276   </link>
 277   <!--  Joint 4 -->
 278   <joint name="joint4" type="revolute">
 279     <parent link="link4"/>
 280     <child link="link5"/>
 281     <origin rpy="0 0 0" xyz="0.124 0.0 0.0"/>
 282     <axis xyz="0 1 0"/>
 283     <limit effort="1" lower="-1.79070781255" upper="2.04203522483" velocity="4.8"/>
 284   </joint>
 285   <transmission name="tran4">
 286     <type>transmission_interface/SimpleTransmission</type>
 287     <joint name="joint4">
 288       <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
 289     </joint>
 290     <actuator name="motor4">
 291       <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
 292       <mechanicalReduction>1</mechanicalReduction>
 293     </actuator>
 294   </transmission>
 295   <!--  Link 5 -->
 296   <link name="link5">
 297     <visual>
 298       <origin rpy="0 0 0" xyz="0 0 0"/>
 299       <geometry>
 300         <mesh filename="package://open_manipulator_description/meshes/chain_link5.stl" scale="0.001 0.001 0.001"/>
 301       </geometry>
 302       <material name="grey"/>
 303     </visual>
 304     <collision>
 305       <origin rpy="0 0 0" xyz="0 0 0"/>
 306       <geometry>
 307         <mesh filename="package://open_manipulator_description/meshes/chain_link5.stl" scale="0.001 0.001 0.001"/>
 308       </geometry>
 309     </collision>
 310     <!--    <inertial>
 311       <origin xyz="0 0 0" />
 312       <mass value="0.141" />
 313       <inertia ixx="0.1" ixy="0.0" ixz="0.0"
 314                iyy="0.1" iyz="0.0"
 315                izz="0.1" />
 316     </inertial>-->
 317     <inertial>
 318       <origin xyz="4.4206755e-02 3.6839985e-07 8.9142216e-03"/>
 319       <mass value="1.4327573e-01"/>
 320       <inertia ixx="8.0870749e-05" ixy="0.0" ixz="-1.0157896e-06" iyy="7.5980465e-05" iyz="0.0" izz="9.3127351e-05"/>
 321     </inertial>
 322   </link>
 323   <!--  Gripper link -->
 324   <link name="gripper_link">
 325     <visual>
 326       <origin rpy="0 0 0" xyz="0.0 0.0 0"/>
 327       <geometry>
 328         <mesh filename="package://open_manipulator_description/meshes/chain_link_grip_l.stl" scale="0.001 0.001 0.001"/>
 329       </geometry>
 330       <material name="grey"/>
 331     </visual>
 332     <collision>
 333       <origin rpy="0 0 0" xyz="0.0 0.0 0"/>
 334       <geometry>
 335         <mesh filename="package://open_manipulator_description/meshes/chain_link_grip_l.stl" scale="0.001 0.001 0.001"/>
 336       </geometry>
 337     </collision>
 338     <inertial>
 339       <origin xyz="0 0 0"/>
 340       <mass value="0.017"/>
 341       <inertia ixx="1.0e-03" ixy="0.0" ixz="0.0" iyy="1.0e-03" iyz="0.0" izz="1.0e-03"/>
 342     </inertial>
 343     <!--     <inertial>
 344       <origin xyz="${0.028 + 8.3720668e-03} ${0.0246 + 9.9696160e-03} -4.2836895e-07" />
 345       <mass value="3.2218127e-02" />
 346       <inertia ixx="9.5568826e-06" ixy="2.8424644e-06" ixz="-3.2829197e-10"
 347                iyy="2.2552871e-05" iyz="-3.1463634e-10"
 348                izz="1.7605306e-05" />
 349     </inertial>-->
 350   </link>
 351   <!--  Gripper joint -->
 352   <joint name="gripper" type="prismatic">
 353     <parent link="link5"/>
 354     <child link="gripper_link"/>
 355     <origin rpy="0 0 0" xyz="0.0817 0.021 0.0"/>
 356     <axis xyz="0 1 0"/>
 357     <limit effort="1" lower="-0.010" upper="0.019" velocity="4.8"/>
 358   </joint>
 359   <transmission name="tran5">
 360     <type>transmission_interface/SimpleTransmission</type>
 361     <joint name="gripper">
 362       <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
 363     </joint>
 364     <actuator name="motor5">
 365       <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
 366       <mechanicalReduction>1</mechanicalReduction>
 367     </actuator>
 368   </transmission>
 369   <!--  Gripper link sub -->
 370   <link name="gripper_link_sub">
 371     <visual>
 372       <origin rpy="0 0 0" xyz="0.0 -0.0 0"/>
 373       <geometry>
 374         <mesh filename="package://open_manipulator_description/meshes/chain_link_grip_r.stl" scale="0.001 0.001 0.001"/>
 375       </geometry>
 376       <material name="grey"/>
 377     </visual>
 378     <collision>
 379       <origin rpy="0 0 0" xyz="0.0 -0.0 0"/>
 380       <geometry>
 381         <mesh filename="package://open_manipulator_description/meshes/chain_link_grip_r.stl" scale="0.001 0.001 0.001"/>
 382       </geometry>
 383     </collision>
 384     <inertial>
 385       <origin xyz="0 0 0"/>
 386       <mass value="0.017"/>
 387       <inertia ixx="1.0e-03" ixy="0.0" ixz="0.0" iyy="1.0e-03" iyz="0.0" izz="1.0e-03"/>
 388     </inertial>
 389     <!--     <inertial>
 390       <origin xyz="${0.028 + 8.3720668e-03} ${-0.0246 - 9.9696160e-03} -4.2836895e-07" />
 391       <mass value="3.2218127e-02" />
 392       <inertia ixx="9.5568826e-06" ixy="2.8424644e-06" ixz="-3.2829197e-10"
 393                iyy="2.2552871e-05" iyz="-3.1463634e-10"
 394                izz="1.7605306e-05" />
 395     </inertial>-->
 396   </link>
 397   <!--  Gripper joint sub -->
 398   <joint name="gripper_sub" type="prismatic">
 399     <parent link="link5"/>
 400     <child link="gripper_link_sub"/>
 401     <origin rpy="0 0 0" xyz="0.0817 -0.021 0"/>
 402     <axis xyz="0 -1 0"/>
 403     <limit effort="1" lower="-0.010" upper="0.019" velocity="4.8"/>
 404     <mimic joint="gripper" multiplier="1"/>
 405   </joint>
 406   <transmission name="tran6">
 407     <type>transmission_interface/SimpleTransmission</type>
 408     <joint name="gripper_sub">
 409       <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
 410     </joint>
 411     <actuator name="motor6">
 412       <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
 413       <mechanicalReduction>1</mechanicalReduction>
 414     </actuator>
 415   </transmission>
 416   <!-- end effector joint -->
 417   <joint name="end_effector_joint" type="fixed">
 418     <origin rpy="0 0 0" xyz="0.126 0.0 0.0"/>
 419     <parent link="link5"/>
 420     <child link="end_effector_link"/>
 421   </joint>
 422   <!-- end effector link -->
 423   <link name="end_effector_link">
 424     <visual>
 425       <origin rpy="0 0 0" xyz="0 0 0"/>
 426       <geometry>
 427         <box size="0.01 0.01 0.01"/>
 428       </geometry>
 429       <material name="red"/>
 430     </visual>
 431     <inertial>
 432       <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
 433       <mass value="0.001"/>
 434       <inertia ixx="1.0e-06" ixy="0.0" ixz="0.0" iyy="1.0e-06" iyz="0.0" izz="1.0e-06"/>
 435     </inertial>
 436   </link>
 437 </robot>