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- <?xml version="1.0" encoding="UTF-8"?>
- <COLLADA xmlns="http://www.collada.org/2008/03/COLLADASchema" version="1.5.0">
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- <contributor>
- <authoring_tool>URDF Collada Writer</authoring_tool>
- </contributor>
- <created>2016-01-14T13:16:27.000000</created>
- <modified>2016-01-14T13:16:27.000000</modified>
- <unit/>
- <up_axis>Z_UP</up_axis>
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- </ambient>
- <diffuse>
- <color>0.699999988079071 0.699999988079071 0.699999988079071 1</color>
- </diffuse>
- </phong>
- </technique>
- </profile_COMMON>
- </effect>
- <effect id="gkmodel0_wrist_3_link_geom0">
- <profile_COMMON>
- <technique sid="">
- <phong>
- <ambient>
- <color>0.699999988079071 0.699999988079071 0.699999988079071 1</color>
- </ambient>
- <diffuse>
- <color>0.699999988079071 0.699999988079071 0.699999988079071 1</color>
- </diffuse>
- </phong>
- </technique>
- </profile_COMMON>
- </effect>
- <effect id="gkmodel0_wrist_3_link_geom0_eff">
- <profile_COMMON>
- <technique sid="">
- <phong>
- <ambient>
- <color>0.699999988079071 0.699999988079071 0.699999988079071 1</color>
- </ambient>
- <diffuse>
- <color>0.699999988079071 0.699999988079071 0.699999988079071 1</color>
- </diffuse>
- </phong>
- </technique>
- </profile_COMMON>
- </effect>
- <effect id="gkmodel0_ee_link_geom0">
- <profile_COMMON>
- <technique sid="">
- <phong>
- <ambient>
- <color>0.1000000014901161 0.1000000014901161 0.1000000014901161 0</color>
- </ambient>
- <diffuse>
- <color>1 1 1 0</color>
- </diffuse>
- </phong>
- </technique>
- </profile_COMMON>
- </effect>
- <effect id="gkmodel0_ee_link_geom0_eff">
- <profile_COMMON>
- <technique sid="">
- <phong>
- <ambient>
- <color>0.1000000014901161 0.1000000014901161 0.1000000014901161 0</color>
- </ambient>
- <diffuse>
- <color>1 1 1 0</color>
- </diffuse>
- </phong>
- </technique>
- </profile_COMMON>
- </effect>
- </library_effects>
- <library_materials id="materials">
- <material id="gkmodel0_base_link_geom0_mat">
- <instance_effect url="#gkmodel0_base_link_geom0_eff"/>
- </material>
- <material id="gkmodel0_base_link_geom0_mat">
- <instance_effect url="#gkmodel0_base_link_geom0"/>
- </material>
- <material id="gkmodel0_shoulder_link_geom0_mat">
- <instance_effect url="#gkmodel0_shoulder_link_geom0_eff"/>
- </material>
- <material id="gkmodel0_shoulder_link_geom0_mat">
- <instance_effect url="#gkmodel0_shoulder_link_geom0"/>
- </material>
- <material id="gkmodel0_upper_arm_link_geom0_mat">
- <instance_effect url="#gkmodel0_upper_arm_link_geom0_eff"/>
- </material>
- <material id="gkmodel0_upper_arm_link_geom0_mat">
- <instance_effect url="#gkmodel0_upper_arm_link_geom0"/>
- </material>
- <material id="gkmodel0_forearm_link_geom0_mat">
- <instance_effect url="#gkmodel0_forearm_link_geom0_eff"/>
- </material>
- <material id="gkmodel0_forearm_link_geom0_mat">
- <instance_effect url="#gkmodel0_forearm_link_geom0"/>
- </material>
- <material id="gkmodel0_wrist_1_link_geom0_mat">
- <instance_effect url="#gkmodel0_wrist_1_link_geom0_eff"/>
- </material>
- <material id="gkmodel0_wrist_1_link_geom0_mat">
- <instance_effect url="#gkmodel0_wrist_1_link_geom0"/>
- </material>
- <material id="gkmodel0_wrist_2_link_geom0_mat">
- <instance_effect url="#gkmodel0_wrist_2_link_geom0_eff"/>
- </material>
- <material id="gkmodel0_wrist_2_link_geom0_mat">
- <instance_effect url="#gkmodel0_wrist_2_link_geom0"/>
- </material>
- <material id="gkmodel0_wrist_3_link_geom0_mat">
- <instance_effect url="#gkmodel0_wrist_3_link_geom0_eff"/>
- </material>
- <material id="gkmodel0_wrist_3_link_geom0_mat">
- <instance_effect url="#gkmodel0_wrist_3_link_geom0"/>
- </material>
- <material id="gkmodel0_ee_link_geom0_mat">
- <instance_effect url="#gkmodel0_ee_link_geom0_eff"/>
- </material>
- <material id="gkmodel0_ee_link_geom0_mat">
- <instance_effect url="#gkmodel0_ee_link_geom0"/>
- </material>
- </library_materials>
- <library_kinematics_models id="kmodels">
- <kinematics_model id="kmodel0" name="ur5">
- <technique_common>
- <joint name="base_link-base_fixed_joint" sid="base_link-base_fixed_joint">
- <revolute sid="axis0">
- <axis>0 0 0</axis>
- <limits>
- <min>0</min>
- <max>0</max>
- </limits>
- </revolute>
- </joint>
- <joint name="ee_fixed_joint" sid="ee_fixed_joint">
- <revolute sid="axis0">
- <axis>0 0 0</axis>
- <limits>
- <min>0</min>
- <max>0</max>
- </limits>
- </revolute>
- </joint>
- <joint name="elbow_joint" sid="elbow_joint">
- <revolute sid="axis0">
- <axis>0 1 0</axis>
- <limits>
- <min>-359.99999958864</min>
- <max>359.99999958864</max>
- </limits>
- </revolute>
- </joint>
- <joint name="shoulder_lift_joint" sid="shoulder_lift_joint">
- <revolute sid="axis0">
- <axis>0 1 0</axis>
- <limits>
- <min>-359.99999958864</min>
- <max>359.99999958864</max>
- </limits>
- </revolute>
- </joint>
- <joint name="shoulder_pan_joint" sid="shoulder_pan_joint">
- <revolute sid="axis0">
- <axis>0 0 1</axis>
- <limits>
- <min>-359.99999958864</min>
- <max>359.99999958864</max>
- </limits>
- </revolute>
- </joint>
- <joint name="world_joint" sid="world_joint">
- <revolute sid="axis0">
- <axis>0 0 0</axis>
- <limits>
- <min>0</min>
- <max>0</max>
- </limits>
- </revolute>
- </joint>
- <joint name="wrist_1_joint" sid="wrist_1_joint">
- <revolute sid="axis0">
- <axis>0 1 0</axis>
- <limits>
- <min>-359.99999958864</min>
- <max>359.99999958864</max>
- </limits>
- </revolute>
- </joint>
- <joint name="wrist_2_joint" sid="wrist_2_joint">
- <revolute sid="axis0">
- <axis>0 0 1</axis>
- <limits>
- <min>-359.99999958864</min>
- <max>359.99999958864</max>
- </limits>
- </revolute>
- </joint>
- <joint name="wrist_3_joint" sid="wrist_3_joint">
- <revolute sid="axis0">
- <axis>0 1 0</axis>
- <limits>
- <min>-359.99999958864</min>
- <max>359.99999958864</max>
- </limits>
- </revolute>
- </joint>
- <joint name="wrist_3_link-tool0_fixed_joint" sid="wrist_3_link-tool0_fixed_joint">
- <revolute sid="axis0">
- <axis>0 0 0</axis>
- <limits>
- <min>0</min>
- <max>0</max>
- </limits>
- </revolute>
- </joint>
- <link sid="world" name="world">
- <attachment_full joint="kmodel0/world_joint">
- <translate>0 0 0</translate>
- <rotate>1 0 0 0</rotate>
- <link sid="base_link" name="base_link">
- <attachment_full joint="kmodel0/base_link-base_fixed_joint">
- <translate>0 0 0</translate>
- <rotate>0 0 -1 179.99999979432</rotate>
- <link sid="base" name="base"/>
- </attachment_full>
- <attachment_full joint="kmodel0/shoulder_pan_joint">
- <translate>0 0 0.089159</translate>
- <rotate>1 0 0 0</rotate>
- <link sid="shoulder_link" name="shoulder_link">
- <attachment_full joint="kmodel0/shoulder_lift_joint">
- <translate>0 0.13585 0</translate>
- <rotate>0 1 0 89.99999989716</rotate>
- <link sid="upper_arm_link" name="upper_arm_link">
- <attachment_full joint="kmodel0/elbow_joint">
- <translate>0 -0.1197 0.425</translate>
- <rotate>1 0 0 0</rotate>
- <link sid="forearm_link" name="forearm_link">
- <attachment_full joint="kmodel0/wrist_1_joint">
- <translate>0 0 0.39225</translate>
- <rotate>0 1 0 89.99999989716</rotate>
- <link sid="wrist_1_link" name="wrist_1_link">
- <attachment_full joint="kmodel0/wrist_2_joint">
- <translate>0 0.093 0</translate>
- <rotate>1 0 0 0</rotate>
- <link sid="wrist_2_link" name="wrist_2_link">
- <attachment_full joint="kmodel0/wrist_3_joint">
- <translate>0 0 0.09465</translate>
- <rotate>1 0 0 0</rotate>
- <link sid="wrist_3_link" name="wrist_3_link">
- <attachment_full joint="kmodel0/ee_fixed_joint">
- <translate>0 0.0823 0</translate>
- <rotate>0 0 1 89.99999989716</rotate>
- <link sid="ee_link" name="ee_link"/>
- </attachment_full>
- <attachment_full joint="kmodel0/wrist_3_link-tool0_fixed_joint">
- <translate>0 0.0823 0</translate>
- <rotate>-1 0 0 89.99999989716</rotate>
- <link sid="tool0" name="tool0"/>
- </attachment_full>
- </link>
- </attachment_full>
- </link>
- </attachment_full>
- </link>
- </attachment_full>
- </link>
- </attachment_full>
- </link>
- </attachment_full>
- </link>
- </attachment_full>
- </link>
- </attachment_full>
- </link>
- </technique_common>
- </kinematics_model>
- </library_kinematics_models>
- <library_articulated_systems id="asystems">
- <articulated_system id="robot0_motion">
- <motion>
- <instance_articulated_system url="#robot0_kinematics">
- <newparam sid="robot0_motion_kmodel0_inst">
- <SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst</SIDREF>
- </newparam>
- <newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_base_link-base_fixed_joint_axis0">
- <SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_base_link-base_fixed_joint_axis0</SIDREF>
- </newparam>
- <newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_base_link-base_fixed_joint_axis0_value">
- <SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_base_link-base_fixed_joint_axis0_value</SIDREF>
- </newparam>
- <newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_ee_fixed_joint_axis0">
- <SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_ee_fixed_joint_axis0</SIDREF>
- </newparam>
- <newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_ee_fixed_joint_axis0_value">
- <SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_ee_fixed_joint_axis0_value</SIDREF>
- </newparam>
- <newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_elbow_joint_axis0">
- <SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_elbow_joint_axis0</SIDREF>
- </newparam>
- <newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_elbow_joint_axis0_value">
- <SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_elbow_joint_axis0_value</SIDREF>
- </newparam>
- <newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_shoulder_lift_joint_axis0">
- <SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_shoulder_lift_joint_axis0</SIDREF>
- </newparam>
- <newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_shoulder_lift_joint_axis0_value">
- <SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_shoulder_lift_joint_axis0_value</SIDREF>
- </newparam>
- <newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_shoulder_pan_joint_axis0">
- <SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_shoulder_pan_joint_axis0</SIDREF>
- </newparam>
- <newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_shoulder_pan_joint_axis0_value">
- <SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_shoulder_pan_joint_axis0_value</SIDREF>
- </newparam>
- <newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_world_joint_axis0">
- <SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_world_joint_axis0</SIDREF>
- </newparam>
- <newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_world_joint_axis0_value">
- <SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_world_joint_axis0_value</SIDREF>
- </newparam>
- <newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_wrist_1_joint_axis0">
- <SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_wrist_1_joint_axis0</SIDREF>
- </newparam>
- <newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_wrist_1_joint_axis0_value">
- <SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_wrist_1_joint_axis0_value</SIDREF>
- </newparam>
- <newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_wrist_2_joint_axis0">
- <SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_wrist_2_joint_axis0</SIDREF>
- </newparam>
- <newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_wrist_2_joint_axis0_value">
- <SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_wrist_2_joint_axis0_value</SIDREF>
- </newparam>
- <newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_wrist_3_joint_axis0">
- <SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_wrist_3_joint_axis0</SIDREF>
- </newparam>
- <newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_wrist_3_joint_axis0_value">
- <SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_wrist_3_joint_axis0_value</SIDREF>
- </newparam>
- <newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_wrist_3_link-tool0_fixed_joint_axis0">
- <SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_wrist_3_link-tool0_fixed_joint_axis0</SIDREF>
- </newparam>
- <newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_wrist_3_link-tool0_fixed_joint_axis0_value">
- <SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_wrist_3_link-tool0_fixed_joint_axis0_value</SIDREF>
- </newparam>
- </instance_articulated_system>
- <technique_common>
- <axis_info axis="robot0_kinematics/axis_info_inst0"/>
- <axis_info axis="robot0_kinematics/axis_info_inst1"/>
- <axis_info axis="robot0_kinematics/axis_info_inst2">
- <speed>
- <float>3.15</float>
- </speed>
- <acceleration>
- <float>150</float>
- </acceleration>
- </axis_info>
- <axis_info axis="robot0_kinematics/axis_info_inst3">
- <speed>
- <float>3.15</float>
- </speed>
- <acceleration>
- <float>150</float>
- </acceleration>
- </axis_info>
- <axis_info axis="robot0_kinematics/axis_info_inst4">
- <speed>
- <float>3.15</float>
- </speed>
- <acceleration>
- <float>150</float>
- </acceleration>
- </axis_info>
- <axis_info axis="robot0_kinematics/axis_info_inst5"/>
- <axis_info axis="robot0_kinematics/axis_info_inst6">
- <speed>
- <float>3.2</float>
- </speed>
- <acceleration>
- <float>28</float>
- </acceleration>
- </axis_info>
- <axis_info axis="robot0_kinematics/axis_info_inst7">
- <speed>
- <float>3.2</float>
- </speed>
- <acceleration>
- <float>28</float>
- </acceleration>
- </axis_info>
- <axis_info axis="robot0_kinematics/axis_info_inst8">
- <speed>
- <float>3.2</float>
- </speed>
- <acceleration>
- <float>28</float>
- </acceleration>
- </axis_info>
- <axis_info axis="robot0_kinematics/axis_info_inst9"/>
- </technique_common>
- </motion>
- </articulated_system>
- <articulated_system id="robot0_kinematics">
- <kinematics>
- <instance_kinematics_model url="#kmodel0" sid="kmodel0_inst">
- <newparam sid="robot0_kinematics_kmodel0_inst">
- <SIDREF>robot0_kinematics/kmodel0_inst</SIDREF>
- </newparam>
- <newparam sid="robot0_kinematics_kmodel0_inst_base_link-base_fixed_joint_axis0">
- <SIDREF>robot0_kinematics/kmodel0_inst/base_link-base_fixed_joint/axis0</SIDREF>
- </newparam>
- <newparam sid="robot0_kinematics_kmodel0_inst_base_link-base_fixed_joint_axis0_value">
- <float>0</float>
- </newparam>
- <newparam sid="robot0_kinematics_kmodel0_inst_ee_fixed_joint_axis0">
- <SIDREF>robot0_kinematics/kmodel0_inst/ee_fixed_joint/axis0</SIDREF>
- </newparam>
- <newparam sid="robot0_kinematics_kmodel0_inst_ee_fixed_joint_axis0_value">
- <float>0</float>
- </newparam>
- <newparam sid="robot0_kinematics_kmodel0_inst_elbow_joint_axis0">
- <SIDREF>robot0_kinematics/kmodel0_inst/elbow_joint/axis0</SIDREF>
- </newparam>
- <newparam sid="robot0_kinematics_kmodel0_inst_elbow_joint_axis0_value">
- <float>0</float>
- </newparam>
- <newparam sid="robot0_kinematics_kmodel0_inst_shoulder_lift_joint_axis0">
- <SIDREF>robot0_kinematics/kmodel0_inst/shoulder_lift_joint/axis0</SIDREF>
- </newparam>
- <newparam sid="robot0_kinematics_kmodel0_inst_shoulder_lift_joint_axis0_value">
- <float>0</float>
- </newparam>
- <newparam sid="robot0_kinematics_kmodel0_inst_shoulder_pan_joint_axis0">
- <SIDREF>robot0_kinematics/kmodel0_inst/shoulder_pan_joint/axis0</SIDREF>
- </newparam>
- <newparam sid="robot0_kinematics_kmodel0_inst_shoulder_pan_joint_axis0_value">
- <float>0</float>
- </newparam>
- <newparam sid="robot0_kinematics_kmodel0_inst_world_joint_axis0">
- <SIDREF>robot0_kinematics/kmodel0_inst/world_joint/axis0</SIDREF>
- </newparam>
- <newparam sid="robot0_kinematics_kmodel0_inst_world_joint_axis0_value">
- <float>0</float>
- </newparam>
- <newparam sid="robot0_kinematics_kmodel0_inst_wrist_1_joint_axis0">
- <SIDREF>robot0_kinematics/kmodel0_inst/wrist_1_joint/axis0</SIDREF>
- </newparam>
- <newparam sid="robot0_kinematics_kmodel0_inst_wrist_1_joint_axis0_value">
- <float>0</float>
- </newparam>
- <newparam sid="robot0_kinematics_kmodel0_inst_wrist_2_joint_axis0">
- <SIDREF>robot0_kinematics/kmodel0_inst/wrist_2_joint/axis0</SIDREF>
- </newparam>
- <newparam sid="robot0_kinematics_kmodel0_inst_wrist_2_joint_axis0_value">
- <float>0</float>
- </newparam>
- <newparam sid="robot0_kinematics_kmodel0_inst_wrist_3_joint_axis0">
- <SIDREF>robot0_kinematics/kmodel0_inst/wrist_3_joint/axis0</SIDREF>
- </newparam>
- <newparam sid="robot0_kinematics_kmodel0_inst_wrist_3_joint_axis0_value">
- <float>0</float>
- </newparam>
- <newparam sid="robot0_kinematics_kmodel0_inst_wrist_3_link-tool0_fixed_joint_axis0">
- <SIDREF>robot0_kinematics/kmodel0_inst/wrist_3_link-tool0_fixed_joint/axis0</SIDREF>
- </newparam>
- <newparam sid="robot0_kinematics_kmodel0_inst_wrist_3_link-tool0_fixed_joint_axis0_value">
- <float>0</float>
- </newparam>
- </instance_kinematics_model>
- <technique_common>
- <axis_info sid="axis_info_inst0" axis="kmodel0/base_link-base_fixed_joint/axis0">
- <active>
- <bool>false</bool>
- </active>
- <locked>
- <bool>false</bool>
- </locked>
- <limits>
- <min>
- <float>0</float>
- </min>
- <max>
- <float>0</float>
- </max>
- </limits>
- </axis_info>
- <axis_info sid="axis_info_inst1" axis="kmodel0/ee_fixed_joint/axis0">
- <active>
- <bool>false</bool>
- </active>
- <locked>
- <bool>false</bool>
- </locked>
- <limits>
- <min>
- <float>0</float>
- </min>
- <max>
- <float>0</float>
- </max>
- </limits>
- </axis_info>
- <axis_info sid="axis_info_inst2" axis="kmodel0/elbow_joint/axis0">
- <active>
- <bool>true</bool>
- </active>
- <locked>
- <bool>false</bool>
- </locked>
- <limits>
- <min>
- <float>-359.99999958864</float>
- </min>
- <max>
- <float>359.99999958864</float>
- </max>
- </limits>
- </axis_info>
- <axis_info sid="axis_info_inst3" axis="kmodel0/shoulder_lift_joint/axis0">
- <active>
- <bool>true</bool>
- </active>
- <locked>
- <bool>false</bool>
- </locked>
- <limits>
- <min>
- <float>-359.99999958864</float>
- </min>
- <max>
- <float>359.99999958864</float>
- </max>
- </limits>
- </axis_info>
- <axis_info sid="axis_info_inst4" axis="kmodel0/shoulder_pan_joint/axis0">
- <active>
- <bool>true</bool>
- </active>
- <locked>
- <bool>false</bool>
- </locked>
- <limits>
- <min>
- <float>-359.99999958864</float>
- </min>
- <max>
- <float>359.99999958864</float>
- </max>
- </limits>
- </axis_info>
- <axis_info sid="axis_info_inst5" axis="kmodel0/world_joint/axis0">
- <active>
- <bool>false</bool>
- </active>
- <locked>
- <bool>false</bool>
- </locked>
- <limits>
- <min>
- <float>0</float>
- </min>
- <max>
- <float>0</float>
- </max>
- </limits>
- </axis_info>
- <axis_info sid="axis_info_inst6" axis="kmodel0/wrist_1_joint/axis0">
- <active>
- <bool>true</bool>
- </active>
- <locked>
- <bool>false</bool>
- </locked>
- <limits>
- <min>
- <float>-359.99999958864</float>
- </min>
- <max>
- <float>359.99999958864</float>
- </max>
- </limits>
- </axis_info>
- <axis_info sid="axis_info_inst7" axis="kmodel0/wrist_2_joint/axis0">
- <active>
- <bool>true</bool>
- </active>
- <locked>
- <bool>false</bool>
- </locked>
- <limits>
- <min>
- <float>-359.99999958864</float>
- </min>
- <max>
- <float>359.99999958864</float>
- </max>
- </limits>
- </axis_info>
- <axis_info sid="axis_info_inst8" axis="kmodel0/wrist_3_joint/axis0">
- <active>
- <bool>true</bool>
- </active>
- <locked>
- <bool>false</bool>
- </locked>
- <limits>
- <min>
- <float>-359.99999958864</float>
- </min>
- <max>
- <float>359.99999958864</float>
- </max>
- </limits>
- </axis_info>
- <axis_info sid="axis_info_inst9" axis="kmodel0/wrist_3_link-tool0_fixed_joint/axis0">
- <active>
- <bool>false</bool>
- </active>
- <locked>
- <bool>false</bool>
- </locked>
- <limits>
- <min>
- <float>0</float>
- </min>
- <max>
- <float>0</float>
- </max>
- </limits>
- </axis_info>
- </technique_common>
- </kinematics>
- </articulated_system>
- </library_articulated_systems>
- <library_kinematics_scenes id="kscenes">
- <kinematics_scene id="kscene" name="URDF Kinematics Scene">
- <instance_articulated_system sid="robot0_motion_inst" url="#robot0_motion" name="ur5">
- <bind symbol="kscene_kmodel0_inst">
- <param ref="robot0_motion/robot0_motion_kmodel0_inst"/>
- </bind>
- <bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_base_link-base_fixed_joint_axis0">
- <param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_base_link-base_fixed_joint_axis0"/>
- </bind>
- <bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_base_link-base_fixed_joint_axis0_value">
- <param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_base_link-base_fixed_joint_axis0_value"/>
- </bind>
- <bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_ee_fixed_joint_axis0">
- <param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_ee_fixed_joint_axis0"/>
- </bind>
- <bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_ee_fixed_joint_axis0_value">
- <param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_ee_fixed_joint_axis0_value"/>
- </bind>
- <bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_elbow_joint_axis0">
- <param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_elbow_joint_axis0"/>
- </bind>
- <bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_elbow_joint_axis0_value">
- <param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_elbow_joint_axis0_value"/>
- </bind>
- <bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_shoulder_lift_joint_axis0">
- <param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_shoulder_lift_joint_axis0"/>
- </bind>
- <bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_shoulder_lift_joint_axis0_value">
- <param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_shoulder_lift_joint_axis0_value"/>
- </bind>
- <bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_shoulder_pan_joint_axis0">
- <param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_shoulder_pan_joint_axis0"/>
- </bind>
- <bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_shoulder_pan_joint_axis0_value">
- <param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_shoulder_pan_joint_axis0_value"/>
- </bind>
- <bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_world_joint_axis0">
- <param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_world_joint_axis0"/>
- </bind>
- <bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_world_joint_axis0_value">
- <param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_world_joint_axis0_value"/>
- </bind>
- <bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_wrist_1_joint_axis0">
- <param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_wrist_1_joint_axis0"/>
- </bind>
- <bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_wrist_1_joint_axis0_value">
- <param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_wrist_1_joint_axis0_value"/>
- </bind>
- <bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_wrist_2_joint_axis0">
- <param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_wrist_2_joint_axis0"/>
- </bind>
- <bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_wrist_2_joint_axis0_value">
- <param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_wrist_2_joint_axis0_value"/>
- </bind>
- <bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_wrist_3_joint_axis0">
- <param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_wrist_3_joint_axis0"/>
- </bind>
- <bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_wrist_3_joint_axis0_value">
- <param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_wrist_3_joint_axis0_value"/>
- </bind>
- <bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_wrist_3_link-tool0_fixed_joint_axis0">
- <param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_wrist_3_link-tool0_fixed_joint_axis0"/>
- </bind>
- <bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_wrist_3_link-tool0_fixed_joint_axis0_value">
- <param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_wrist_3_link-tool0_fixed_joint_axis0_value"/>
- </bind>
- </instance_articulated_system>
- </kinematics_scene>
- </library_kinematics_scenes>
- <library_physics_scenes id="pscenes">
- <physics_scene id="pscene" name="URDF Physics Scene">
- <instance_physics_model url="#pmodel0" sid="pmodel0_inst" parent="#visual0">
- <instance_rigid_body body="rigid0" target="#vkmodel0_node0"/>
- <instance_rigid_body body="rigid1" target="#vkmodel0_node1"/>
- <instance_rigid_body body="rigid2" target="#vkmodel0_node2"/>
- <instance_rigid_body body="rigid3" target="#vkmodel0_node3"/>
- <instance_rigid_body body="rigid4" target="#vkmodel0_node4"/>
- <instance_rigid_body body="rigid5" target="#vkmodel0_node5"/>
- <instance_rigid_body body="rigid6" target="#vkmodel0_node6"/>
- <instance_rigid_body body="rigid7" target="#vkmodel0_node7"/>
- <instance_rigid_body body="rigid8" target="#vkmodel0_node8"/>
- <instance_rigid_body body="rigid9" target="#vkmodel0_node9"/>
- <instance_rigid_body body="rigid10" target="#vkmodel0_node10"/>
- </instance_physics_model>
- <technique_common>
- <gravity>0 0 0</gravity>
- </technique_common>
- </physics_scene>
- </library_physics_scenes>
- <library_physics_models id="pmodels">
- <physics_model id="pmodel0" name="ur5">
- <rigid_body sid="rigid0" name="base">
- <technique_common/>
- </rigid_body>
- <rigid_body sid="rigid1" name="base_link">
- <technique_common>
- <dynamic>true</dynamic>
- <mass>4</mass>
- <mass_frame>
- <translate>0 0 0</translate>
- <rotate>1 0 0 0</rotate>
- </mass_frame>
- <inertia>0.00443333156 0.00443333156 0.0072</inertia>
- </technique_common>
- </rigid_body>
- <rigid_body sid="rigid2" name="ee_link">
- <technique_common/>
- </rigid_body>
- <rigid_body sid="rigid3" name="forearm_link">
- <technique_common>
- <dynamic>true</dynamic>
- <mass>2.275</mass>
- <mass_frame>
- <translate>0.675 0.01615 0.08915900121155518</translate>
- <rotate>0 1 0 89.99999989716</rotate>
- </mass_frame>
- <inertia>0.049443313556 0.049443313556 0.004095</inertia>
- </technique_common>
- </rigid_body>
- <rigid_body sid="rigid4" name="shoulder_link">
- <technique_common>
- <dynamic>true</dynamic>
- <mass>3.7</mass>
- <mass_frame>
- <translate>0 0 0.089159</translate>
- <rotate>1 0 0 0</rotate>
- </mass_frame>
- <inertia>0.010267495893 0.010267495893 0.00666</inertia>
- </technique_common>
- </rigid_body>
- <rigid_body sid="rigid5" name="tool0">
- <technique_common/>
- </rigid_body>
- <rigid_body sid="rigid6" name="upper_arm_link">
- <technique_common>
- <dynamic>true</dynamic>
- <mass>8.393000000000001</mass>
- <mass_frame>
- <translate>0.28 0.13585 0.08915900050257104</translate>
- <rotate>0 1 0 89.99999989716</rotate>
- </mass_frame>
- <inertia>0.22689067591 0.22689067591 0.0151074</inertia>
- </technique_common>
- </rigid_body>
- <rigid_body sid="rigid7" name="world">
- <technique_common/>
- </rigid_body>
- <rigid_body sid="rigid8" name="wrist_1_link">
- <technique_common>
- <dynamic>true</dynamic>
- <mass>1.219</mass>
- <mass_frame>
- <translate>0.81725 0.01615 0.08915900146687922</translate>
- <rotate>0 1 0 179.99999979432</rotate>
- </mass_frame>
- <inertia>0.111172755531 0.111172755531 0.21942</inertia>
- </technique_common>
- </rigid_body>
- <rigid_body sid="rigid9" name="wrist_2_link">
- <technique_common>
- <dynamic>true</dynamic>
- <mass>1.219</mass>
- <mass_frame>
- <translate>0.81725 0.10915 0.08915900146687922</translate>
- <rotate>0 1 0 179.99999979432</rotate>
- </mass_frame>
- <inertia>0.111172755531 0.111172755531 0.21942</inertia>
- </technique_common>
- </rigid_body>
- <rigid_body sid="rigid10" name="wrist_3_link">
- <technique_common>
- <dynamic>true</dynamic>
- <mass>0.1879</mass>
- <mass_frame>
- <translate>0.8172500003397739 0.10915 -0.005490998533120781</translate>
- <rotate>0 1 0 179.99999979432</rotate>
- </mass_frame>
- <inertia>0.0171364731454 0.0171364731454 0.033822</inertia>
- </technique_common>
- </rigid_body>
- </physics_model>
- </library_physics_models>
- <scene>
- <instance_physics_scene url="#pscene"/>
- <instance_visual_scene url="#vscene"/>
- <instance_kinematics_scene url="#kscene">
- <bind_kinematics_model node="visual0/node7">
- <param>kscene_kmodel0_inst</param>
- </bind_kinematics_model>
- <bind_joint_axis target="node7/node0/node_base_link-base_fixed_joint_axis0">
- <axis>
- <param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_base_link-base_fixed_joint_axis0</param>
- </axis>
- <value>
- <param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_base_link-base_fixed_joint_axis0_value</param>
- </value>
- </bind_joint_axis>
- <bind_joint_axis target="node7/node1/node4/node6/node3/node8/node9/node2/node_ee_fixed_joint_axis0">
- <axis>
- <param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_ee_fixed_joint_axis0</param>
- </axis>
- <value>
- <param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_ee_fixed_joint_axis0_value</param>
- </value>
- </bind_joint_axis>
- <bind_joint_axis target="node7/node1/node4/node3/node_elbow_joint_axis0">
- <axis>
- <param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_elbow_joint_axis0</param>
- </axis>
- <value>
- <param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_elbow_joint_axis0_value</param>
- </value>
- </bind_joint_axis>
- <bind_joint_axis target="node7/node1/node6/node_shoulder_lift_joint_axis0">
- <axis>
- <param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_shoulder_lift_joint_axis0</param>
- </axis>
- <value>
- <param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_shoulder_lift_joint_axis0_value</param>
- </value>
- </bind_joint_axis>
- <bind_joint_axis target="node7/node4/node_shoulder_pan_joint_axis0">
- <axis>
- <param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_shoulder_pan_joint_axis0</param>
- </axis>
- <value>
- <param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_shoulder_pan_joint_axis0_value</param>
- </value>
- </bind_joint_axis>
- <bind_joint_axis target="node1/node_world_joint_axis0">
- <axis>
- <param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_world_joint_axis0</param>
- </axis>
- <value>
- <param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_world_joint_axis0_value</param>
- </value>
- </bind_joint_axis>
- <bind_joint_axis target="node7/node1/node4/node6/node8/node_wrist_1_joint_axis0">
- <axis>
- <param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_wrist_1_joint_axis0</param>
- </axis>
- <value>
- <param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_wrist_1_joint_axis0_value</param>
- </value>
- </bind_joint_axis>
- <bind_joint_axis target="node7/node1/node4/node6/node3/node9/node_wrist_2_joint_axis0">
- <axis>
- <param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_wrist_2_joint_axis0</param>
- </axis>
- <value>
- <param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_wrist_2_joint_axis0_value</param>
- </value>
- </bind_joint_axis>
- <bind_joint_axis target="node7/node1/node4/node6/node3/node8/node10/node_wrist_3_joint_axis0">
- <axis>
- <param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_wrist_3_joint_axis0</param>
- </axis>
- <value>
- <param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_wrist_3_joint_axis0_value</param>
- </value>
- </bind_joint_axis>
- <bind_joint_axis target="node7/node1/node4/node6/node3/node8/node9/node5/node_wrist_3_link-tool0_fixed_joint_axis0">
- <axis>
- <param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_wrist_3_link-tool0_fixed_joint_axis0</param>
- </axis>
- <value>
- <param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_wrist_3_link-tool0_fixed_joint_axis0_value</param>
- </value>
- </bind_joint_axis>
- </instance_kinematics_scene>
- </scene>
- <extra id="sensors" type="library_sensors">
- <technique profile="OpenRAVE"/>
- </extra>
- </COLLADA>
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