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<?xml version="1.0" ?> |
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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/longer_finger_v2.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/longer_finger_v2.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/longer_finger_v2.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/longer_finger_v2.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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<joint name="camera_joint" type='fixed'> |
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<parent link="panda_hand"/> |
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<child link="gripper_cam"/> |
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<origin xyz="-0.1 0 0" rpy="1.3 0 -1.57"/> |
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</joint> |
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<link name="gripper_cam"> |
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<inertial> |
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<origin rpy="0 0 0" xyz="0 0.0 0.0"/> |
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<mass value="0.2"/> |
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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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|
|
|
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<visual> |
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<origin rpy="0 0 0" xyz="0 0 0"/> |
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<geometry> |
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<box size=".08 .025 0.01"/> |
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</geometry> |
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<material name="panda_white"/> |
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</visual> |
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|
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</link> |
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|
|
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<joint name="tcp_joint" type='fixed'> |
|
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<parent link="panda_hand"/> |
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<child link="tcp"/> |
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<origin xyz="0 0 0.14" rpy="0 0 0"/> |
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</joint> |
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|
|
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<link name="tcp"> |
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<inertial> |
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|
<origin rpy="0 0 0" xyz="0 0.0 0.0"/> |
|
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<mass value="0.00001"/> |
|
|
<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> |
|
|
<joint name="joint_finger_tip_left" type="fixed"> |
|
|
<origin xyz="0.0009 0.021 0.066" rpy="0 0 -1.57" /> |
|
|
<parent link="panda_leftfinger"/> |
|
|
<child link="finger_left_tip" /> |
|
|
<dynamics friction="100" damping="100" /> |
|
|
<axis xyz="1 0 0"/> |
|
|
<limit effort="100" velocity="100"/> |
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|
</joint> |
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|
|
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<link name="finger_left_tip"> |
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|
<inertial> |
|
|
<mass value="0.0001" /> |
|
|
<origin xyz="0 0 0" /> |
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" |
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iyy="1.0" iyz="0.0" |
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izz="1.0" /> |
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</inertial> |
|
|
<contact> |
|
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<lateral_friction value="1"/> |
|
|
<spinning_friction value=".001"/> |
|
|
</contact> |
|
|
<visual> |
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|
|
|
|
<geometry> |
|
|
<mesh filename="package://meshes/visual/digit_gel_only.STL"/> |
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</geometry> |
|
|
<material name="white"> |
|
|
<color rgba="1. 1. 1. 1"/> |
|
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</material> |
|
|
</visual> |
|
|
|
|
|
<collision> |
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|
|
|
|
<geometry> |
|
|
<mesh filename="package://meshes/visual/digit_gel_only.STL"/> |
|
|
</geometry> |
|
|
</collision> |
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|
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|
|
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</link> |
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|
|
|
|
|
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<joint name="joint_finger_tip_right" type="fixed"> |
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|
|
|
|
<origin xyz="-0.0009 -0.021 0.066" rpy="0 0 1.57" /> |
|
|
<parent link="panda_rightfinger"/> |
|
|
<child link="finger_right_tip" /> |
|
|
<dynamics friction="100" damping="100" /> |
|
|
<axis xyz="1 0 0"/> |
|
|
<limit effort="100" velocity="100"/> |
|
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</joint> |
|
|
|
|
|
<link name="finger_right_tip"> |
|
|
<inertial> |
|
|
<mass value="0.0001" /> |
|
|
<origin xyz="0 0 0" /> |
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" |
|
|
iyy="1.0" iyz="0.0" |
|
|
izz="1.0" /> |
|
|
</inertial> |
|
|
<contact> |
|
|
<lateral_friction value="1"/> |
|
|
<spinning_friction value=".001"/> |
|
|
</contact> |
|
|
<visual> |
|
|
|
|
|
<geometry> |
|
|
<mesh filename="package://meshes/visual/digit_gel_only.STL"/> |
|
|
</geometry> |
|
|
<material name="white"> |
|
|
<color rgba="1. 1. 1. 1"/> |
|
|
</material> |
|
|
</visual> |
|
|
|
|
|
<collision> |
|
|
|
|
|
<geometry> |
|
|
<mesh filename="package://meshes/visual/digit_gel_only.STL"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
|
|
|
|
|
|
</link> |
|
|
</robot> |
|
|
|
