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  1. <?xml version="1.0" ?>
  2. <robot name="Kuka_kr3">
  3.   <gazebo>
  4.     <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
  5.       <robotNamespace>/kuka_kr3</robotNamespace>
  6.     </plugin>
  7.   </gazebo>
  8.   <gazebo reference="link0">
  9.     <material>Gazebo/Orange</material>
  10.     <mu1>0.5</mu1>
  11.     <mu2>0.5</mu2>
  12.   </gazebo>
  13.   <gazebo reference="link1">
  14.     <material>Gazebo/Orange</material>
  15.     <mu1>0.5</mu1>
  16.     <mu2>0.5</mu2>
  17.   </gazebo>
  18.   <gazebo reference="link2">
  19.     <mu1>0.5</mu1>
  20.     <mu2>0.5</mu2>
  21.     <material>Gazebo/Black</material>
  22.   </gazebo>
  23.   <gazebo reference="link3">
  24.     <mu1>0.5</mu1>
  25.     <mu2>0.5</mu2>
  26.     <material>Gazebo/Orange</material>
  27.   </gazebo>
  28.   <gazebo reference="link4">
  29.     <mu1>0.5</mu1>
  30.     <mu2>0.5</mu2>
  31.     <material>Gazebo/Black</material>
  32.   </gazebo>
  33.   <gazebo reference="link5">
  34.     <mu1>0.5</mu1>
  35.     <mu2>0.5</mu2>
  36.     <material>Gazebo/Blue</material>
  37.   </gazebo>
  38.   <gazebo reference="link6">
  39.     <mu1>0.5</mu1>
  40.     <mu2>0.5</mu2>
  41.     <material>Gazebo/Orange</material>
  42.   </gazebo>
  43.   <joint name="dummy" type="fixed">
  44.     <parent link="dummy"/>
  45.     <child link="link0"/>
  46.     <origin rpy="0  0  0" xyz="0   0   0"/>
  47.     <axis xyz="0  0  0"/>
  48.     <limit effort="0.0" lower="-2.96705973" upper="2.96705973" velocity="1.0"/>
  49.   </joint>
  50.   <joint name="joint0" type="revolute">
  51.     <parent link="link0"/>
  52.     <child link="link1"/>
  53.     <origin rpy="0  0  0" xyz="0   0   0.2"/>
  54.     <axis xyz="0  0  1"/>
  55.     <limit effort="0.0" lower="-2.96705973" upper="2.96705973" velocity="1.0"/>
  56.     <dynamics damping="0.2"/>
  57.   </joint>
  58.   <transmission name="tran0">
  59.     <type>transmission_interface/SimpleTransmission</type>
  60.     <joint name="joint0">
  61.       <hardwareInterface>EffortJointInterface</hardwareInterface>
  62.     </joint>
  63.     <actuator name="motor0">
  64.       <hardwareInterface>EffortJointInterface</hardwareInterface>
  65.       <mechanicalReduction>1</mechanicalReduction>
  66.     </actuator>
  67.   </transmission>
  68.   <joint name="joint1" type="revolute">
  69.     <parent link="link1"/>
  70.     <child link="link2"/>
  71.     <origin rpy="0  0  0" xyz="0    0    0.15"/>
  72.     <axis xyz="0  1  0"/>
  73.     <limit effort="0.0" lower="-1.0472" upper="1.0472" velocity="1.0"/>
  74.     <dynamics damping="0.2"/>
  75.   </joint>
  76.   <transmission name="tran1">
  77.     <type>transmission_interface/SimpleTransmission</type>
  78.     <joint name="joint1">
  79.       <hardwareInterface>EffortJointInterface</hardwareInterface>
  80.     </joint>
  81.     <actuator name="motor1">
  82.       <hardwareInterface>EffortJointInterface</hardwareInterface>
  83.       <mechanicalReduction>1</mechanicalReduction>
  84.     </actuator>
  85.   </transmission>
  86.   <joint name="joint2" type="revolute">
  87.     <parent link="link2"/>
  88.     <child link="link3"/>
  89.     <origin rpy="0  0  0" xyz="0     0     0.295"/>
  90.     <axis xyz="0  1  0"/>
  91.     <limit effort="0.0" lower="-3.14159265" upper="2.70526034" velocity="1.0"/>
  92.     <dynamics damping="0.2"/>
  93.   </joint>
  94.   <transmission name="tran2">
  95.     <type>transmission_interface/SimpleTransmission</type>
  96.     <joint name="joint2">
  97.       <hardwareInterface>EffortJointInterface</hardwareInterface>
  98.     </joint>
  99.     <actuator name="motor2">
  100.       <hardwareInterface>EffortJointInterface</hardwareInterface>
  101.       <mechanicalReduction>1</mechanicalReduction>
  102.     </actuator>
  103.   </transmission>
  104.   <joint name="joint3" type="revolute">
  105.     <parent link="link3"/>
  106.     <child link="link4"/>
  107.     <origin rpy="0  0  0" xyz="0     0     0.196"/>
  108.     <axis xyz="0  0  1"/>
  109.     <limit effort="0" lower="-3.14159265" upper="3.14159265" velocity="1.0"/>
  110.     <dynamics damping="0.2"/>
  111.   </joint>
  112.   <transmission name="tran3">
  113.     <type>transmission_interface/SimpleTransmission</type>
  114.     <joint name="joint3">
  115.       <hardwareInterface>EffortJointInterface</hardwareInterface>
  116.     </joint>
  117.     <actuator name="motor3">
  118.       <hardwareInterface>EffortJointInterface</hardwareInterface>
  119.       <mechanicalReduction>1</mechanicalReduction>
  120.     </actuator>
  121.   </transmission>
  122.   <joint name="joint4" type="revolute">
  123.     <parent link="link4"/>
  124.     <child link="link5"/>
  125.     <origin rpy="0  0  0" xyz="0     0     0.094"/>
  126.     <axis xyz="0  1  0"/>
  127.     <limit effort="0.0" lower="-1.04719755" upper="1.04719755" velocity="1.0"/>
  128.     <dynamics damping="0.2"/>
  129.   </joint>
  130.   <transmission name="tran4">
  131.     <type>transmission_interface/SimpleTransmission</type>
  132.     <joint name="joint4">
  133.       <hardwareInterface>EffortJointInterface</hardwareInterface>
  134.     </joint>
  135.     <actuator name="motor4">
  136.       <hardwareInterface>EffortJointInterface</hardwareInterface>
  137.       <mechanicalReduction>1</mechanicalReduction>
  138.     </actuator>
  139.   </transmission>
  140.   <joint name="joint5" type="revolute">
  141.     <parent link="link5"/>
  142.     <child link="link6"/>
  143.     <origin rpy="0  0  0" xyz="0     0     0.115"/>
  144.     <axis xyz="0  0  1"/>
  145.     <limit effort="0" lower="-3.14159265" upper="3.14159265" velocity="1.0"/>
  146.     <dynamics damping="0.2"/>
  147.   </joint>
  148.   <transmission name="tran5">
  149.     <type>transmission_interface/SimpleTransmission</type>
  150.     <joint name="joint5">
  151.       <hardwareInterface>EffortJointInterface</hardwareInterface>
  152.     </joint>
  153.     <actuator name="motor5">
  154.       <hardwareInterface>EffortJointInterface</hardwareInterface>
  155.       <mechanicalReduction>1</mechanicalReduction>
  156.     </actuator>
  157.   </transmission>
  158.   <link name="dummy">
  159.     <collision name="link0_collision">
  160.       <origin rpy="0  0  0" xyz="0    0    0.01"/>
  161.       <geometry>
  162.         <box size="0.500 0.500 0.04"/>
  163.       </geometry>
  164.     </collision>
  165.     <visual name="link0_visual">
  166.       <origin rpy="0  0  0" xyz="0    0    0.01"/>
  167.       <geometry>
  168.         <box size="0.500 0.500 0.04"/>
  169.       </geometry>
  170.     </visual>
  171.   </link>
  172.   <link name="link0">
  173.     <inertial>
  174.       <mass value="100.0"/>
  175.       <origin rpy="0  0  0" xyz="0    0    0.01"/>
  176.       <inertia ixx="2.096665828" ixy="0.0" ixz="0.0" iyy="2.096665828" iyz="0.0" izz="4.166665"/>
  177.     </inertial>
  178.     <collision name="link0_collision">
  179.       <origin rpy="0  0  0" xyz="0    0    0.01"/>
  180.       <geometry>
  181.         <box size="0.500 0.500 0.04"/>
  182.       </geometry>
  183.     </collision>
  184.     <visual name="link0_visual">
  185.       <origin rpy="0  0  0" xyz="0    0    0.01"/>
  186.       <geometry>
  187.         <box size="0.500 0.500 0.04"/>
  188.       </geometry>
  189.     </visual>
  190.   </link>
  191.   <link name="link1">
  192.     <inertial>
  193.       <mass value="4.94"/>
  194.       <origin rpy="0  0  0" xyz="0  0  0"/>
  195.       <inertia ixx="0.049366408" ixy="0.0" ixz="0.0" iyy="0.049366408" iyz="0.0" izz="0.020007"/>
  196.     </inertial>
  197.     <collision name="link1_collision">
  198.       <origin rpy="0  0  0" xyz="0  0  0"/>
  199.       <geometry>
  200.         <cylinder length="0.31" radius="0.09"/>
  201.       </geometry>
  202.     </collision>
  203.     <visual name="link1_visual">
  204.       <origin rpy="0  0  0" xyz="0  0  0"/>
  205.       <geometry>
  206.         <cylinder length="0.31" radius="0.09"/>
  207.       </geometry>
  208.     </visual>
  209.   </link>
  210.   <link name="link2">
  211.     <inertial>
  212.       <mass value="4.37"/>
  213.       <origin rpy="0  0  0" xyz="0    0    0.16"/>
  214.       <inertia ixx="0.05223024" ixy="0.0" ixz="0.0" iyy="0.050634316" iyz="0.0" izz="0.008850124"/>
  215.     </inertial>
  216.     <collision name="link2_collision">
  217.       <origin rpy="1.57079  0       0" xyz="0  0  0"/>
  218.       <geometry>
  219.         <cylinder length="0.12" radius="0.04"/>
  220.       </geometry>
  221.     </collision>
  222.     <collision name="link2_arm_collision">
  223.       <origin rpy="0  0  0" xyz="0     0     0.165"/>
  224.       <geometry>
  225.         <box size="0.1 0.12 0.28"/>
  226.       </geometry>
  227.     </collision>
  228.     <visual name="link2_visual">
  229.       <origin rpy="1.57079  0       0" xyz="0  0  0"/>
  230.       <geometry>
  231.         <cylinder length="0.12" radius="0.04"/>
  232.       </geometry>
  233.     </visual>
  234.     <visual name="link2_arm_visual">
  235.       <origin rpy="0  0  0" xyz="0     0     0.165"/>
  236.       <geometry>
  237.         <box size="0.1 0.12 0.28"/>
  238.       </geometry>
  239.     </visual>
  240.   </link>
  241.   <link name="link3">
  242.     <inertial>
  243.       <mass value="2.47"/>
  244.       <origin rpy="0  0  0" xyz="0    0    0.06"/>
  245.       <inertia ixx="0.009942985" ixy="0.0" ixz="0.0" iyy="0.009942985" iyz="0.0" izz="0.008036392"/>
  246.     </inertial>
  247.     <collision name="link3_collision">
  248.       <origin rpy="1.57079  0       0" xyz="0  0  0"/>
  249.       <geometry>
  250.         <cylinder length="0.12" radius="0.035"/>
  251.       </geometry>
  252.     </collision>
  253.     <collision name="link3_arm_collision">
  254.       <origin rpy="0  0  0" xyz="0    0    0.08"/>
  255.       <geometry>
  256.         <box size="0.14 0.14 0.1"/>
  257.       </geometry>
  258.     </collision>
  259.     <visual name="link3_visual">
  260.       <origin rpy="1.57079  0       0" xyz="0  0  0"/>
  261.       <geometry>
  262.         <cylinder length="0.12" radius="0.035"/>
  263.       </geometry>
  264.     </visual>
  265.     <visual name="link3_arm_visual">
  266.       <origin rpy="0  0  0" xyz="0    0    0.08"/>
  267.       <geometry>
  268.         <box size="0.14 0.14 0.1"/>
  269.       </geometry>
  270.     </visual>
  271.   </link>
  272.   <link name="link4">
  273.     <inertial>
  274.       <mass value="1.634"/>
  275.       <origin rpy="0  0  0" xyz="0  0  0"/>
  276.       <inertia ixx="0.00339055" ixy="0.0" ixz="0.0" iyy="0.0036482318" iyz="0.0" izz="0.0024547582"/>
  277.     </inertial>
  278.     <collision name="link4_collision">
  279.       <origin rpy="0  0  0" xyz="0  0  0"/>
  280.       <geometry>
  281.         <box size="0.1 0.09 0.13"/>
  282.       </geometry>
  283.     </collision>
  284.     <visual name="link4_visual">
  285.       <origin rpy="0  0  0" xyz="0  0  0"/>
  286.       <geometry>
  287.         <box size="0.1 0.09 0.13"/>
  288.       </geometry>
  289.     </visual>
  290.   </link>
  291.   <link name="link5">
  292.     <inertial>
  293.       <mass value="0.608"/>
  294.       <origin rpy="0  0  0" xyz="0  0  0"/>
  295.       <inertia ixx="0.0019781888" ixy="0.0" ixz="0.0" iyy="0.001312064" iyz="0.0" izz="0.0019781888"/>
  296.     </inertial>
  297.     <collision name="link5_collision">
  298.       <origin rpy="1.57079  0       0" xyz="0  0  0"/>
  299.       <geometry>
  300.         <cylinder length="0.14" radius="0.035"/>
  301.       </geometry>
  302.     </collision>
  303.     <collision name="link5_arm_collision">
  304.       <origin rpy="0  0  0" xyz="0    0    0.05"/>
  305.       <geometry>
  306.         <box size="0.08 0.07 0.07"/>
  307.       </geometry>
  308.     </collision>
  309.     <visual name="link5_visual">
  310.       <origin rpy="1.57079  0       0" xyz="0  0  0"/>
  311.       <geometry>
  312.         <cylinder length="0.14" radius="0.035"/>
  313.       </geometry>
  314.     </visual>
  315.     <visual name="link5_arm_visual">
  316.       <origin rpy="0  0  0" xyz="0    0    0.05"/>
  317.       <geometry>
  318.         <box size="0.08 0.07 0.07"/>
  319.       </geometry>
  320.     </visual>
  321.   </link>
  322.   <link name="link6">
  323.     <inertial>
  324.       <mass value="0.285"/>
  325.       <origin rpy="0  0  0" xyz="0  0  0"/>
  326.       <inertia ixx="0.000118275" ixy="0.0" ixz="0.0" iyy="0.000118275" iyz="0.0" izz="0.000118275"/>
  327.     </inertial>
  328.     <collision name="link6_collision">
  329.       <origin rpy="0  0  0" xyz="0  0  0"/>
  330.       <geometry>
  331.         <cylinder length="0.05" radius="0.025"/>
  332.       </geometry>
  333.     </collision>
  334.     <visual name="link6_visual">
  335.       <origin rpy="0  0  0" xyz="0  0  0"/>
  336.       <geometry>
  337.         <cylinder length="0.05" radius="0.025"/>
  338.       </geometry>
  339.     </visual>
  340.   </link>
  341. </robot>
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