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<?xml version="1.0" encoding="utf-8"?> |
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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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<visual> |
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<geometry> |
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<mesh filename="franka_description/meshes/visual/link0.dae"/> |
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</geometry> |
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</visual> |
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<collision> |
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<geometry> |
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<mesh filename="franka_description/meshes/collision/link0.stl"/> |
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</geometry> |
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</collision> |
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</link> |
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<link name="panda_link1"> |
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<visual> |
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<geometry> |
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<mesh filename="franka_description/meshes/visual/link1.dae"/> |
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</geometry> |
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</visual> |
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<collision> |
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<geometry> |
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<mesh filename="franka_description/meshes/collision/link1.stl"/> |
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</geometry> |
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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="-2.8973" upper="2.8973" velocity="2.1750"/> |
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</joint> |
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<link name="panda_link2"> |
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<visual> |
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<geometry> |
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<mesh filename="franka_description/meshes/visual/link2.dae"/> |
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</geometry> |
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</visual> |
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<collision> |
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<geometry> |
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<mesh filename="franka_description/meshes/collision/link2.stl"/> |
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</geometry> |
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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="-1.7628" upper="1.7628" velocity="2.1750"/> |
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</joint> |
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<link name="panda_link3"> |
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<visual> |
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<geometry> |
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<mesh filename="franka_description/meshes/visual/link3.dae"/> |
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</geometry> |
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</visual> |
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<collision> |
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<geometry> |
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<mesh filename="franka_description/meshes/collision/link3.stl"/> |
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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="-2.8973" upper="2.8973" velocity="2.1750"/> |
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</joint> |
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<link name="panda_link4"> |
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<visual> |
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<geometry> |
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<mesh filename="franka_description/meshes/visual/link4.dae"/> |
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</geometry> |
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</visual> |
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<collision> |
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<geometry> |
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<mesh filename="franka_description/meshes/collision/link4.stl"/> |
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</geometry> |
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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="-3.0718" upper="-0.0698" velocity="2.1750"/> |
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</joint> |
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<link name="panda_link5"> |
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<visual> |
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<geometry> |
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<mesh filename="franka_description/meshes/visual/link5.dae"/> |
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</geometry> |
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</visual> |
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<collision> |
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<geometry> |
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<mesh filename="franka_description/meshes/collision/link5.stl"/> |
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</geometry> |
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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="-2.8973" upper="2.8973" velocity="2.6100"/> |
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</joint> |
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<link name="panda_link6"> |
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<visual> |
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<geometry> |
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<mesh filename="franka_description/meshes/visual/link6.dae"/> |
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</geometry> |
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</visual> |
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<collision> |
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<geometry> |
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<mesh filename="franka_description/meshes/collision/link6.stl"/> |
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</geometry> |
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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="-0.0175" upper="3.7525" velocity="2.6100"/> |
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</joint> |
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<link name="panda_link7"> |
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<visual> |
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<geometry> |
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<mesh filename="franka_description/meshes/visual/link7.dae"/> |
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</geometry> |
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</visual> |
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<collision> |
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<geometry> |
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<mesh filename="franka_description/meshes/collision/link7.stl"/> |
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</geometry> |
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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="-2.8973" upper="2.8973" velocity="2.6100"/> |
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</joint> |
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<link name="panda_link8"/> |
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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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<visual> |
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<geometry> |
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<mesh filename="franka_description/meshes/visual/hand.dae"/> |
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</geometry> |
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</visual> |
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<collision> |
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<geometry> |
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<mesh filename="franka_description/meshes/collision/hand.stl"/> |
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</geometry> |
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</collision> |
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</link> |
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<link name="panda_leftfinger"> |
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<visual> |
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<geometry> |
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<mesh filename="franka_description/meshes/visual/new_finger.stl"/> |
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</geometry> |
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</visual> |
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<collision> |
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<origin rpy="0 0 0" xyz="0 -0.009 0"/> |
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<geometry> |
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<mesh filename="franka_description/meshes/collision/new_finger_collision.stl"/> |
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</geometry> |
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</collision> |
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</link> |
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<link name="panda_rightfinger"> |
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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="franka_description/meshes/visual/new_finger.stl"/> |
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</geometry> |
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</visual> |
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<collision> |
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<origin rpy="0 0 3.14159265359" xyz="0 0.009 0"/> |
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<geometry> |
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<mesh filename="franka_description/meshes/collision/new_finger_collision.stl"/> |
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</geometry> |
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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 0.009 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 -0.009 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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</robot> |
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