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  1. <?xml version="1.0" ?>
  2. <!-- =================================================================================== -->
  3. <!-- | This document was autogenerated by xacro from /home/rugnir/catkin_ws/src/Omtp-mini-project-main/omtp_support/urdf/omtp_factory.xacro | -->
  4. <!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
  5. <!-- =================================================================================== -->
  6. <robot name="omtp">
  7. <!-- ==================================================== -->
  8. <!-- INITIAL SETUP OF WORLD LINK AND WORLD_INTERFACE LINK -->
  9. <!-- ==================================================== -->
  10. <!-- world -->
  11. <link name="world" />
  12. <!-- world_interface. Makes it convenient to move the whole environment according to the world origin -->
  13. <link name="world_interface" />
  14. <!-- world<->world_interface joint -->
  15. <joint name="world_interface_to_world" type="fixed">
  16. <parent link="world" />
  17. <child link="world_interface" />
  18. </joint>
  19. <!-- Links -->
  20. <link name="fib14">
  21. <visual>
  22. <geometry>
  23. <mesh filename="package://aau_lab_ros_models/meshes/fib14/fib14.dae" />
  24. </geometry>
  25. </visual>
  26. <collision>
  27. <geometry>
  28. <mesh filename="package://aau_lab_ros_models/meshes/fib14/fib14.dae" />
  29. </geometry>
  30. </collision>
  31.  
  32. <inertial>
  33. <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0" />
  34. <mass value="100" />
  35. </inertial>
  36.  
  37. </link>
  38. <joint name="fib14_to_world_interface" type="fixed">
  39. <parent link="world_interface" />
  40. <child link="fib14" />
  41. <origin rpy="0 0 0" xyz="0 0 0" />
  42. </joint>
  43. <joint name="panda_1_virtual_joint" type="fixed">
  44. <parent link="robot1_pedestal_link" />
  45. <child link="panda_1_link0" />
  46. <origin rpy="0 0 0" xyz="0 0 0.95" />
  47. </joint>
  48. <link name="panda_1_link0">
  49. <visual>
  50. <geometry>
  51. <mesh filename="package://franka_description/meshes/visual/link0.dae" />
  52. </geometry>
  53. </visual>
  54. <collision>
  55. <origin rpy="0 0 0" xyz="0 0 -0.1915" />
  56. <geometry>
  57. <cylinder length="0.2830" radius="0.09" />
  58. </geometry>
  59. </collision>
  60. <collision>
  61. <origin rpy="0 0 0" xyz="0 0 -0.333" />
  62. <geometry>
  63. <sphere radius="0.09" />
  64. </geometry>
  65. </collision>
  66. <collision>
  67. <origin rpy="0 0 0" xyz="0 0 -0.05" />
  68. <geometry>
  69. <sphere radius="0.09" />
  70. </geometry>
  71. </collision>
  72.  
  73. <inertial>
  74. <mass value="0.1" />
  75. <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
  76. </inertial>
  77.  
  78. </link>
  79. <link name="panda_1_link1">
  80. <visual>
  81. <geometry>
  82. <mesh filename="package://franka_description/meshes/visual/link1.dae" />
  83. </geometry>
  84. </visual>
  85. <collision>
  86. <origin rpy="0 0 0" xyz="0 0 -0.1915" />
  87. <geometry>
  88. <cylinder length="0.2830" radius="0.09" />
  89. </geometry>
  90. </collision>
  91. <collision>
  92. <origin rpy="0 0 0" xyz="0 0 -0.333" />
  93. <geometry>
  94. <sphere radius="0.09" />
  95. </geometry>
  96. </collision>
  97. <collision>
  98. <origin rpy="0 0 0" xyz="0 0 -0.05" />
  99. <geometry>
  100. <sphere radius="0.09" />
  101. </geometry>
  102. </collision>
  103.  
  104. <inertial>
  105. <mass value="0.1" />
  106. <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
  107. </inertial>
  108.  
  109. </link>
  110. <link name="panda_1_link2">
  111. <visual>
  112. <geometry>
  113. <mesh filename="package://franka_description/meshes/visual/link2.dae" />
  114. </geometry>
  115. </visual>
  116. <collision>
  117. <origin rpy="0 0 0" xyz="0 0 0" />
  118. <geometry>
  119. <cylinder length="0.12" radius="0.09" />
  120. </geometry>
  121. </collision>
  122. <collision>
  123. <origin rpy="0 0 0" xyz="0 0 -0.06" />
  124. <geometry>
  125. <sphere radius="0.09" />
  126. </geometry>
  127. </collision>
  128. <collision>
  129. <origin rpy="0 0 0" xyz="0 0 0.06" />
  130. <geometry>
  131. <sphere radius="0.09" />
  132. </geometry>
  133. </collision>
  134.  
  135. <inertial>
  136. <mass value="0.1" />
  137. <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
  138. </inertial>
  139.  
  140. </link>
  141. <link name="panda_1_link3">
  142. <visual>
  143. <geometry>
  144. <mesh filename="package://franka_description/meshes/visual/link3.dae" />
  145. </geometry>
  146. </visual>
  147. <collision>
  148. <origin rpy="0 0 0" xyz="0 0 -0.145" />
  149. <geometry>
  150. <cylinder length="0.15" radius="0.09" />
  151. </geometry>
  152. </collision>
  153. <collision>
  154. <origin rpy="0 0 0" xyz="0 0 -0.22" />
  155. <geometry>
  156. <sphere radius="0.09" />
  157. </geometry>
  158. </collision>
  159. <collision>
  160. <origin rpy="0 0 0" xyz="0 0 -0.07" />
  161. <geometry>
  162. <sphere radius="0.09" />
  163. </geometry>
  164. </collision>
  165.  
  166. <inertial>
  167. <mass value="0.1" />
  168. <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
  169. </inertial>
  170.  
  171. </link>
  172. <link name="panda_1_link4">
  173. <visual>
  174. <geometry>
  175. <mesh filename="package://franka_description/meshes/visual/link4.dae" />
  176. </geometry>
  177. </visual>
  178. <collision>
  179. <origin rpy="0 0 0" xyz="0 0 0" />
  180. <geometry>
  181. <cylinder length="0.12" radius="0.09" />
  182. </geometry>
  183. </collision>
  184. <collision>
  185. <origin rpy="0 0 0" xyz="0 0 0.06" />
  186. <geometry>
  187. <sphere radius="0.09" />
  188. </geometry>
  189. </collision>
  190. <collision>
  191. <origin rpy="0 0 0" xyz="0 0 -0.06" />
  192. <geometry>
  193. <sphere radius="0.09" />
  194. </geometry>
  195. </collision>
  196.  
  197. <inertial>
  198. <mass value="0.1" />
  199. <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
  200. </inertial>
  201.  
  202. </link>
  203. <link name="panda_1_link5">
  204. <visual>
  205. <geometry>
  206. <mesh filename="package://franka_description/meshes/visual/link5.dae" />
  207. </geometry>
  208. </visual>
  209. <collision>
  210. <origin rpy="0 0 0" xyz="0 0 -0.26" />
  211. <geometry>
  212. <cylinder length="0.1" radius="0.09" />
  213. </geometry>
  214. </collision>
  215. <collision>
  216. <origin rpy="0 0 0" xyz="0 0 -0.31" />
  217. <geometry>
  218. <sphere radius="0.09" />
  219. </geometry>
  220. </collision>
  221. <collision>
  222. <origin rpy="0 0 0" xyz="0 0 -0.21" />
  223. <geometry>
  224. <sphere radius="0.09" />
  225. </geometry>
  226. </collision>
  227. <collision>
  228. <origin rpy="0 0 0" xyz="0 0.08 -0.13" />
  229. <geometry>
  230. <cylinder length="0.14" radius="0.055" />
  231. </geometry>
  232. </collision>
  233. <collision>
  234. <origin rpy="0 0 0" xyz="0 0.08 -0.06" />
  235. <geometry>
  236. <sphere radius="0.055" />
  237. </geometry>
  238. </collision>
  239. <collision>
  240. <origin rpy="0 0 0" xyz="0 0.08 -0.20" />
  241. <geometry>
  242. <sphere radius="0.055" />
  243. </geometry>
  244. </collision>
  245.  
  246. <inertial>
  247. <mass value="0.1" />
  248. <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
  249. </inertial>
  250.  
  251. </link>
  252. <link name="panda_1_link6">
  253. <visual>
  254. <geometry>
  255. <mesh filename="package://franka_description/meshes/visual/link6.dae" />
  256. </geometry>
  257. </visual>
  258. <collision>
  259. <origin rpy="0 0 0" xyz="0 0 -0.03" />
  260. <geometry>
  261. <cylinder length="0.08" radius="0.08" />
  262. </geometry>
  263. </collision>
  264. <collision>
  265. <origin rpy="0 0 0" xyz="0 0 0.01" />
  266. <geometry>
  267. <sphere radius="0.08" />
  268. </geometry>
  269. </collision>
  270. <collision>
  271. <origin rpy="0 0 0" xyz="0 0 -0.07" />
  272. <geometry>
  273. <sphere radius="0.08" />
  274. </geometry>
  275. </collision>
  276.  
  277. <inertial>
  278. <mass value="0.1" />
  279. <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
  280. </inertial>
  281.  
  282. </link>
  283. <link name="panda_1_link7">
  284. <visual>
  285. <geometry>
  286. <mesh filename="package://franka_description/meshes/visual/link7.dae" />
  287. </geometry>
  288. </visual>
  289. <collision>
  290. <origin rpy="0 0 0" xyz="0 0 0.01" />
  291. <geometry>
  292. <cylinder length="0.14" radius="0.07" />
  293. </geometry>
  294. </collision>
  295. <collision>
  296. <origin rpy="0 0 0" xyz="0 0 0.08" />
  297. <geometry>
  298. <sphere radius="0.07" />
  299. </geometry>
  300. </collision>
  301. <collision>
  302. <origin rpy="0 0 0" xyz="0 0 -0.06" />
  303. <geometry>
  304. <sphere radius="0.07" />
  305. </geometry>
  306. </collision>
  307.  
  308. <inertial>
  309. <mass value="0.1" />
  310. <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
  311. </inertial>
  312.  
  313. </link>
  314. <link name="panda_1_link8">
  315. <collision>
  316. <origin rpy="3.141592653589793 1.5707963267948966 1.5707963267948966" xyz="0.0424 0.0424 -0.0250" />
  317. <geometry>
  318. <cylinder length="0.01" radius="0.06" />
  319. </geometry>
  320. </collision>
  321. <collision>
  322. <origin rpy="0 0 0" xyz="0.0424 0.0424 -0.02" />
  323. <geometry>
  324. <sphere radius="0.06" />
  325. </geometry>
  326. </collision>
  327. <collision>
  328. <origin rpy="0 0 0" xyz="0.0424 0.0424 -0.03" />
  329. <geometry>
  330. <sphere radius="0.06" />
  331. </geometry>
  332. </collision>
  333.  
  334. <inertial>
  335. <mass value="0.1" />
  336. <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
  337. </inertial>
  338.  
  339. </link>
  340. <joint name="panda_1_joint1" type="revolute">
  341. <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973" />
  342. <origin rpy="0 0 0" xyz="0 0 0.333" />
  343. <parent link="panda_1_link0" />
  344. <child link="panda_1_link1" />
  345. <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.175" />
  346. <axis xyz="0 0 1" />
  347. <dynamics damping="1.0" />
  348. </joint>
  349. <joint name="panda_1_joint2" type="revolute">
  350. <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628" />
  351. <origin rpy="-1.5707963267948966 0 0" xyz="0 0 0" />
  352. <parent link="panda_1_link1" />
  353. <child link="panda_1_link2" />
  354. <limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.175" />
  355. <axis xyz="0 0 1" />
  356. <dynamics damping="1.0" />
  357. </joint>
  358. <joint name="panda_1_joint3" type="revolute">
  359. <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973" />
  360. <origin rpy="1.5707963267948966 0 0" xyz="0 -0.316 0" />
  361. <parent link="panda_1_link2" />
  362. <child link="panda_1_link3" />
  363. <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.175" />
  364. <axis xyz="0 0 1" />
  365. <dynamics damping="1.0" />
  366. </joint>
  367. <joint name="panda_1_joint4" type="revolute">
  368. <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698" />
  369. <origin rpy="1.5707963267948966 0 0" xyz="0.0825 0 0" />
  370. <parent link="panda_1_link3" />
  371. <child link="panda_1_link4" />
  372. <limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.175" />
  373. <axis xyz="0 0 1" />
  374. <dynamics damping="1.0" />
  375. </joint>
  376. <joint name="panda_1_joint5" type="revolute">
  377. <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973" />
  378. <origin rpy="-1.5707963267948966 0 0" xyz="-0.0825 0.384 0" />
  379. <parent link="panda_1_link4" />
  380. <child link="panda_1_link5" />
  381. <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.61" />
  382. <axis xyz="0 0 1" />
  383. <dynamics damping="1.0" />
  384. </joint>
  385. <joint name="panda_1_joint6" type="revolute">
  386. <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525" />
  387. <origin rpy="1.5707963267948966 0 0" xyz="0 0 0" />
  388. <parent link="panda_1_link5" />
  389. <child link="panda_1_link6" />
  390. <limit effort="12" lower="-0.0175" upper="3.7525" velocity="2.61" />
  391. <axis xyz="0 0 1" />
  392. <dynamics damping="1.0" />
  393. </joint>
  394. <joint name="panda_1_joint7" type="revolute">
  395. <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973" />
  396. <origin rpy="1.5707963267948966 0 0" xyz="0.088 0 0" />
  397. <parent link="panda_1_link6" />
  398. <child link="panda_1_link7" />
  399. <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.61" />
  400. <axis xyz="0 0 1" />
  401. <dynamics damping="1.0" />
  402. </joint>
  403. <joint name="panda_1_joint8" type="fixed">
  404. <origin rpy="0 0 0" xyz="0 0 0.107" />
  405. <parent link="panda_1_link7" />
  406. <child link="panda_1_link8" />
  407. <axis xyz="0 0 0" />
  408. <dynamics damping="1.0" />
  409. </joint>
  410. <joint name="panda_1_hand_joint" type="fixed">
  411. <parent link="panda_1_link8" />
  412. <child link="panda_1_hand" />
  413. <origin rpy="0 0 -0.7853981633974483" xyz="0 0 0" />
  414. </joint>
  415. <link name="panda_1_hand">
  416. <visual>
  417. <geometry>
  418. <mesh filename="package://franka_description/meshes/visual/hand.dae" />
  419. </geometry>
  420. </visual>
  421. <collision>
  422. <origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="0 0 0.04" />
  423. <geometry>
  424. <cylinder length="0.1" radius="0.07" />
  425. </geometry>
  426. </collision>
  427. <collision>
  428. <origin rpy="0 0 0" xyz="0 -0.05 0.04" />
  429. <geometry>
  430. <sphere radius="0.07" />
  431. </geometry>
  432. </collision>
  433. <collision>
  434. <origin rpy="0 0 0" xyz="0 0.05 0.04" />
  435. <geometry>
  436. <sphere radius="0.07" />
  437. </geometry>
  438. </collision>
  439. <collision>
  440. <origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="0 0 0.1" />
  441. <geometry>
  442. <cylinder length="0.1" radius="0.05" />
  443. </geometry>
  444. </collision>
  445. <collision>
  446. <origin rpy="0 0 0" xyz="0 -0.05 0.1" />
  447. <geometry>
  448. <sphere radius="0.05" />
  449. </geometry>
  450. </collision>
  451. <collision>
  452. <origin rpy="0 0 0" xyz="0 0.05 0.1" />
  453. <geometry>
  454. <sphere radius="0.05" />
  455. </geometry>
  456. </collision>
  457.  
  458. <inertial>
  459. <mass value="0.1" />
  460. <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
  461. </inertial>
  462.  
  463. </link>
  464. <link name="panda_1_leftfinger">
  465. <visual>
  466. <geometry>
  467. <mesh filename="package://franka_description/meshes/visual/finger.dae" />
  468. </geometry>
  469. </visual>
  470. <inertial>
  471. <origin xyz="-0.0325856 5.11013e-06 0" rpy="0 0 0"/>
  472. <mass value="1.26763"/>
  473. <inertia ixx="0.00165595" ixy="-8.29854e-06" ixz="-3.99028e-11" iyy="0.00129758" iyz="1.56383e-07" izz="0.00130449"/>
  474. </inertial>
  475. </link>
  476. <link name="panda_1_rightfinger">
  477. <visual>
  478. <origin rpy="0 0 3.141592653589793" xyz="0 0 0" />
  479. <geometry>
  480. <mesh filename="package://franka_description/meshes/visual/finger.dae" />
  481. </geometry>
  482. </visual>
  483. <inertial>
  484. <origin xyz="-0.0325856 5.11013e-06 0" rpy="0 0 0"/>
  485. <mass value="1.26763"/>
  486. <inertia ixx="0.00165595" ixy="-8.29854e-06" ixz="-3.99028e-11" iyy="0.00129758" iyz="1.56383e-07" izz="0.00130449"/>
  487. </inertial>
  488. </link>
  489. <joint name="panda_1_finger_joint1" type="prismatic">
  490. <parent link="panda_1_hand" />
  491. <child link="panda_1_leftfinger" />
  492. <origin rpy="0 0 0" xyz="0 0 0.0584" />
  493. <axis xyz="0 1 0" />
  494. <limit effort="150" lower="0.0" upper="0.04" velocity="0.2" />
  495. </joint>
  496. <joint name="panda_1_finger_joint2" type="prismatic">
  497. <parent link="panda_1_hand" />
  498. <child link="panda_1_rightfinger" />
  499. <origin rpy="0 0 0" xyz="0 0 0.0584" />
  500. <axis xyz="0 -1 0" />
  501. <limit effort="150" lower="0.0" upper="0.04" velocity="0.2" />
  502. <mimic joint="panda_1_finger_joint1" />
  503. </joint>
  504. <joint name="robot1_pedestal_joint" type="fixed">
  505. <origin rpy="0 0 0" xyz="0.5 1.0 0.0" />
  506. <parent link="world_interface" />
  507. <child link="robot1_pedestal_link" />
  508. </joint>
  509. <link name="robot1_pedestal_link">
  510. <visual>
  511. <origin xyz="0 0 0.475" />
  512. <geometry>
  513. <box size="0.3 0.3 0.95" />
  514. </geometry>
  515. <material name="pedestal_color">
  516. <color rgba="0 0.1568627450980392 0.5254901960784314 1" />
  517. </material>
  518. </visual>
  519. <collision>
  520. <origin xyz="0 0 0.475" />
  521. <geometry>
  522. <box size="0.3 0.3 0.95" />
  523. </geometry>
  524. </collision>
  525.  
  526. <inertial>
  527. <mass value="500" />
  528. <origin rpy="0 0 0" xyz="0 0 0" />
  529. <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001" />
  530. </inertial>
  531.  
  532. </link>
  533. <gazebo reference="robot1_pedestal_link">
  534. <material>Gazebo/Blue</material>
  535. </gazebo>
  536. <!-- ==================================================== -->
  537. <!-- Robot 2 pedestal -->
  538. <!-- ==================================================== -->
  539. <!--
  540. Base UR robot series xacro macro.
  541.  
  542. NOTE: this is NOT a URDF. It cannot directly be loaded by consumers
  543. expecting a flattened '.urdf' file. See the top-level '.xacro' for that
  544. (but note: that .xacro must still be processed by the xacro command).
  545.  
  546. For use in '.launch' files: use one of the 'load_urX.launch' convenience
  547. launch files.
  548.  
  549. This file models the base kinematic chain of a UR robot, which then gets
  550. parameterised by various configuration files to convert it into a UR3(e),
  551. UR5(e), UR10(e) or UR16e.
  552.  
  553. NOTE: the default kinematic parameters (ie: link lengths, frame locations,
  554. offets, etc) do not correspond to any particular robot. They are defaults
  555. only. There WILL be non-zero offsets between the Forward Kinematics results
  556. in TF (ie: robot_state_publisher) and the values reported by the Teach
  557. Pendant.
  558.  
  559. For accurate (and robot-specific) transforms, the 'kinematics_parameters_file'
  560. parameter MUST point to a .yaml file containing the appropriate values for
  561. the targetted robot.
  562.  
  563. If using the UniversalRobots/Universal_Robots_ROS_Driver, follow the steps
  564. described in the readme of that repository to extract the kinematic
  565. calibration from the controller and generate the required .yaml file.
  566.  
  567. Main author of the migration to yaml configs: Ludovic Delval.
  568.  
  569. Contributors to previous versions (in no particular order):
  570.  
  571. - Felix Messmer
  572. - Kelsey Hawkins
  573. - Wim Meeussen
  574. - Shaun Edwards
  575. - Nadia Hammoudeh Garcia
  576. - Dave Hershberger
  577. - G. vd. Hoorn
  578. - Philip Long
  579. - Dave Coleman
  580. - Miguel Prada
  581. - Mathias Luedtke
  582. - Marcel Schnirring
  583. - Felix von Drigalski
  584. - Felix Exner
  585. - Jimmy Da Silva
  586. - Ajit Krisshna N L
  587. - Muhammad Asif Rana
  588. -->
  589. <!--
  590. NOTE: the macro defined in this file is NOT part of the public API of this
  591. package. Users CANNOT rely on this file being available, or stored in
  592. this location. Nor can they rely on the existence of the macro.
  593. -->
  594. <transmission name="robot2_shoulder_pan_trans">
  595. <type>transmission_interface/SimpleTransmission</type>
  596. <joint name="robot2_shoulder_pan_joint">
  597. <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
  598. </joint>
  599. <actuator name="robot2_shoulder_pan_motor">
  600. <mechanicalReduction>1</mechanicalReduction>
  601. </actuator>
  602. </transmission>
  603. <transmission name="robot2_shoulder_lift_trans">
  604. <type>transmission_interface/SimpleTransmission</type>
  605. <joint name="robot2_shoulder_lift_joint">
  606. <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
  607. </joint>
  608. <actuator name="robot2_shoulder_lift_motor">
  609. <mechanicalReduction>1</mechanicalReduction>
  610. </actuator>
  611. </transmission>
  612. <transmission name="robot2_elbow_trans">
  613. <type>transmission_interface/SimpleTransmission</type>
  614. <joint name="robot2_elbow_joint">
  615. <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
  616. </joint>
  617. <actuator name="robot2_elbow_motor">
  618. <mechanicalReduction>1</mechanicalReduction>
  619. </actuator>
  620. </transmission>
  621. <transmission name="robot2_wrist_1_trans">
  622. <type>transmission_interface/SimpleTransmission</type>
  623. <joint name="robot2_wrist_1_joint">
  624. <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
  625. </joint>
  626. <actuator name="robot2_wrist_1_motor">
  627. <mechanicalReduction>1</mechanicalReduction>
  628. </actuator>
  629. </transmission>
  630. <transmission name="robot2_wrist_2_trans">
  631. <type>transmission_interface/SimpleTransmission</type>
  632. <joint name="robot2_wrist_2_joint">
  633. <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
  634. </joint>
  635. <actuator name="robot2_wrist_2_motor">
  636. <mechanicalReduction>1</mechanicalReduction>
  637. </actuator>
  638. </transmission>
  639. <transmission name="robot2_wrist_3_trans">
  640. <type>transmission_interface/SimpleTransmission</type>
  641. <joint name="robot2_wrist_3_joint">
  642. <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
  643. </joint>
  644. <actuator name="robot2_wrist_3_motor">
  645. <mechanicalReduction>1</mechanicalReduction>
  646. </actuator>
  647. </transmission>
  648. <!-- links: main serial chain -->
  649. <link name="robot2_base_link" />
  650. <link name="robot2_base_link_inertia">
  651. <visual>
  652. <origin rpy="0 0 3.141592653589793" xyz="0 0 0" />
  653. <geometry>
  654. <mesh filename="package://ur_description/meshes/ur5/visual/base.dae" />
  655. </geometry>
  656. <material name="LightGrey">
  657. <color rgba="0.7 0.7 0.7 1.0" />
  658. </material>
  659. </visual>
  660. <collision>
  661. <origin rpy="0 0 3.141592653589793" xyz="0 0 0" />
  662. <geometry>
  663. <mesh filename="package://ur_description/meshes/ur5/collision/base.stl" />
  664. </geometry>
  665. </collision>
  666.  
  667. <inertial>
  668. <mass value="4.0" />
  669. <origin rpy="0 0 0" xyz="0 0 0" />
  670. <inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072" />
  671. </inertial>
  672.  
  673. </link>
  674. <link name="robot2_shoulder_link">
  675. <visual>
  676. <origin rpy="0 0 3.141592653589793" xyz="0 0 0" />
  677. <geometry>
  678. <mesh filename="package://ur_description/meshes/ur5/visual/shoulder.dae" />
  679. </geometry>
  680. <material name="LightGrey">
  681. <color rgba="0.7 0.7 0.7 1.0" />
  682. </material>
  683. </visual>
  684. <collision>
  685. <origin rpy="0 0 3.141592653589793" xyz="0 0 0" />
  686. <geometry>
  687. <mesh filename="package://ur_description/meshes/ur5/collision/shoulder.stl" />
  688. </geometry>
  689. </collision>
  690.  
  691. <inertial>
  692. <mass value="3.7" />
  693. <origin rpy="0 0 0" xyz="0 0 0" />
  694. <inertia ixx="0.014972352344389999" ixy="0.0" ixz="0.0" iyy="0.014972352344389999" iyz="0.0" izz="0.01040625" />
  695. </inertial>
  696.  
  697. </link>
  698. <link name="robot2_upper_arm_link">
  699. <visual>
  700. <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.13585" />
  701. <geometry>
  702. <mesh filename="package://ur_description/meshes/ur5/visual/upperarm.dae" />
  703. </geometry>
  704. <material name="LightGrey">
  705. <color rgba="0.7 0.7 0.7 1.0" />
  706. </material>
  707. </visual>
  708. <collision>
  709. <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.13585" />
  710. <geometry>
  711. <mesh filename="package://ur_description/meshes/ur5/collision/upperarm.stl" />
  712. </geometry>
  713. </collision>
  714.  
  715. <inertial>
  716. <mass value="8.393" />
  717. <origin rpy="0 1.5707963267948966 0" xyz="-0.2125 0.0 0.136" />
  718. <inertia ixx="0.1338857818623325" ixy="0.0" ixz="0.0" iyy="0.1338857818623325" iyz="0.0" izz="0.0151074" />
  719. </inertial>
  720.  
  721. </link>
  722. <link name="robot2_forearm_link">
  723. <visual>
  724. <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0165" />
  725. <geometry>
  726. <mesh filename="package://ur_description/meshes/ur5/visual/forearm.dae" />
  727. </geometry>
  728. <material name="LightGrey">
  729. <color rgba="0.7 0.7 0.7 1.0" />
  730. </material>
  731. </visual>
  732. <collision>
  733. <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0165" />
  734. <geometry>
  735. <mesh filename="package://ur_description/meshes/ur5/collision/forearm.stl" />
  736. </geometry>
  737. </collision>
  738.  
  739. <inertial>
  740. <mass value="2.275" />
  741. <origin rpy="0 1.5707963267948966 0" xyz="-0.196125 0.0 0.0165" />
  742. <inertia ixx="0.03121679102890359" ixy="0.0" ixz="0.0" iyy="0.03121679102890359" iyz="0.0" izz="0.004095" />
  743. </inertial>
  744.  
  745. </link>
  746. <link name="robot2_wrist_1_link">
  747. <visual>
  748. <!-- TODO: Move this to a parameter -->
  749. <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.093" />
  750. <geometry>
  751. <mesh filename="package://ur_description/meshes/ur5/visual/wrist1.dae" />
  752. </geometry>
  753. <material name="LightGrey">
  754. <color rgba="0.7 0.7 0.7 1.0" />
  755. </material>
  756. </visual>
  757. <collision>
  758. <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.093" />
  759. <geometry>
  760. <mesh filename="package://ur_description/meshes/ur5/collision/wrist1.stl" />
  761. </geometry>
  762. </collision>
  763.  
  764. <inertial>
  765. <mass value="1.219" />
  766. <origin rpy="0 0 0" xyz="0 0 0" />
  767. <inertia ixx="0.0020138887777775" ixy="0.0" ixz="0.0" iyy="0.0020138887777775" iyz="0.0" izz="0.0021942" />
  768. </inertial>
  769.  
  770. </link>
  771. <link name="robot2_wrist_2_link">
  772. <visual>
  773. <origin rpy="0 0 0" xyz="0 0 -0.095" />
  774. <geometry>
  775. <mesh filename="package://ur_description/meshes/ur5/visual/wrist2.dae" />
  776. </geometry>
  777. <material name="LightGrey">
  778. <color rgba="0.7 0.7 0.7 1.0" />
  779. </material>
  780. </visual>
  781. <collision>
  782. <origin rpy="0 0 0" xyz="0 0 -0.095" />
  783. <geometry>
  784. <mesh filename="package://ur_description/meshes/ur5/collision/wrist2.stl" />
  785. </geometry>
  786. </collision>
  787.  
  788. <inertial>
  789. <mass value="1.219" />
  790. <origin rpy="0 0 0" xyz="0 0 0" />
  791. <inertia ixx="0.0018310388509175" ixy="0.0" ixz="0.0" iyy="0.0018310388509175" iyz="0.0" izz="0.0021942" />
  792. </inertial>
  793.  
  794. </link>
  795. <link name="robot2_wrist_3_link">
  796. <visual>
  797. <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.0818" />
  798. <geometry>
  799. <mesh filename="package://ur_description/meshes/ur5/visual/wrist3.dae" />
  800. </geometry>
  801. <material name="LightGrey">
  802. <color rgba="0.7 0.7 0.7 1.0" />
  803. </material>
  804. </visual>
  805. <collision>
  806. <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.0818" />
  807. <geometry>
  808. <mesh filename="package://ur_description/meshes/ur5/collision/wrist3.stl" />
  809. </geometry>
  810. </collision>
  811.  
  812. <inertial>
  813. <mass value="0.1879" />
  814. <origin rpy="0 0 0" xyz="0.0 0.0 -0.01525" />
  815. <inertia ixx="8.062472608343e-05" ixy="0.0" ixz="0.0" iyy="8.062472608343e-05" iyz="0.0" izz="0.0001321171875" />
  816. </inertial>
  817.  
  818. </link>
  819. <!-- joints: main serial chain -->
  820. <joint name="robot2_base_link-base_link_inertia" type="fixed">
  821. <parent link="robot2_base_link" />
  822. <child link="robot2_base_link_inertia" />
  823. <!-- 'base_link' is REP-103 aligned (so X+ forward), while the internal
  824. frames of the robot/controller have X+ pointing backwards.
  825. Use the joint between 'base_link' and 'base_link_inertia' (a dummy
  826. link/frame) to introduce the necessary rotation over Z (of pi rad).
  827. -->
  828. <origin rpy="0 0 3.141592653589793" xyz="0 0 0" />
  829. </joint>
  830. <joint name="robot2_shoulder_pan_joint" type="revolute">
  831. <parent link="robot2_base_link_inertia" />
  832. <child link="robot2_shoulder_link" />
  833. <origin rpy="0 0 0" xyz="0 0 0.089159" />
  834. <axis xyz="0 0 1" />
  835. <limit effort="150.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793" />
  836. <dynamics damping="0" friction="0" />
  837. </joint>
  838. <joint name="robot2_shoulder_lift_joint" type="revolute">
  839. <parent link="robot2_shoulder_link" />
  840. <child link="robot2_upper_arm_link" />
  841. <origin rpy="1.570796327 0 0" xyz="0 0 0" />
  842. <axis xyz="0 0 1" />
  843. <limit effort="150.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793" />
  844. <dynamics damping="0" friction="0" />
  845. </joint>
  846. <joint name="robot2_elbow_joint" type="revolute">
  847. <parent link="robot2_upper_arm_link" />
  848. <child link="robot2_forearm_link" />
  849. <origin rpy="0 0 0" xyz="-0.425 0 0" />
  850. <axis xyz="0 0 1" />
  851. <limit effort="150.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="3.141592653589793" />
  852. <dynamics damping="0" friction="0" />
  853. </joint>
  854. <joint name="robot2_wrist_1_joint" type="revolute">
  855. <parent link="robot2_forearm_link" />
  856. <child link="robot2_wrist_1_link" />
  857. <origin rpy="0 0 0" xyz="-0.39225 0 0.10915" />
  858. <axis xyz="0 0 1" />
  859. <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793" />
  860. <dynamics damping="0" friction="0" />
  861. </joint>
  862. <joint name="robot2_wrist_2_joint" type="revolute">
  863. <parent link="robot2_wrist_1_link" />
  864. <child link="robot2_wrist_2_link" />
  865. <origin rpy="1.570796327 0 0" xyz="0 -0.09465 -1.941303950897609e-11" />
  866. <axis xyz="0 0 1" />
  867. <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793" />
  868. <dynamics damping="0" friction="0" />
  869. </joint>
  870. <joint name="robot2_wrist_3_joint" type="revolute">
  871. <parent link="robot2_wrist_2_link" />
  872. <child link="robot2_wrist_3_link" />
  873. <origin rpy="1.570796326589793 3.141592653589793 3.141592653589793" xyz="0 0.0823 -1.688001216681175e-11" />
  874. <axis xyz="0 0 1" />
  875. <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793" />
  876. <dynamics damping="0" friction="0" />
  877. </joint>
  878. <!-- ROS-Industrial 'base' frame: base_link to UR 'Base' Coordinates transform -->
  879. <link name="robot2_base" />
  880. <joint name="robot2_base_link-base_fixed_joint" type="fixed">
  881. <!-- Note the rotation over Z of pi radians: as base_link is REP-103
  882. aligned (ie: has X+ forward, Y+ left and Z+ up), this is needed
  883. to correctly align 'base' with the 'Base' coordinate system of
  884. the UR controller.
  885. -->
  886. <origin rpy="0 0 3.141592653589793" xyz="0 0 0" />
  887. <parent link="robot2_base_link" />
  888. <child link="robot2_base" />
  889. </joint>
  890. <!-- ROS-Industrial 'flange' frame: attachment point for EEF models -->
  891. <link name="robot2_flange" />
  892. <joint name="robot2_wrist_3-flange" type="fixed">
  893. <parent link="robot2_wrist_3_link" />
  894. <child link="robot2_flange" />
  895. <origin rpy="0 -1.5707963267948966 -1.5707963267948966" xyz="0 0 0" />
  896. </joint>
  897. <!-- ROS-Industrial 'tool0' frame: all-zeros tool frame -->
  898. <link name="robot2_tool0" />
  899. <joint name="robot2_flange-tool0" type="fixed">
  900. <!-- default toolframe: X+ left, Y+ up, Z+ front -->
  901. <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0 0 0" />
  902. <parent link="robot2_flange" />
  903. <child link="robot2_tool0" />
  904. </joint>
  905. <joint name="robot2_pedestal_joint" type="fixed">
  906. <origin rpy="0 0 0" xyz="0.5 -1.8 0.0" />
  907. <parent link="world_interface" />
  908. <child link="robot2_pedestal_link" />
  909. </joint>
  910. <link name="robot2_pedestal_link">
  911. <visual>
  912. <origin xyz="0 0 0.475" />
  913. <geometry>
  914. <box size="0.3 0.3 0.95" />
  915. </geometry>
  916. <material name="pedestal_color">
  917. <color rgba="0 0.1568627450980392 0.5254901960784314 1" />
  918. </material>
  919. </visual>
  920. <collision>
  921. <origin xyz="0 0 0.475" />
  922. <geometry>
  923. <box size="0.3 0.3 0.95" />
  924. </geometry>
  925. </collision>
  926.  
  927. <inertial>
  928. <mass value="500" />
  929. <origin rpy="0 0 0" xyz="0 0 0" />
  930. <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001" />
  931. </inertial>
  932.  
  933. </link>
  934. <gazebo reference="robot2_pedestal_link">
  935. <material>Gazebo/Blue</material>
  936. </gazebo>
  937. <joint name="robot2-robot2_pedestal_joint" type="fixed">
  938. <parent link="robot2_pedestal_link" />
  939. <child link="robot2_base_link" />
  940. <origin rpy="0 0 0" xyz="0 0 0.95" />
  941. </joint>
  942. <joint name="left2_gripper_joint" type="revolute">
  943. <axis xyz="0 0 1" />
  944. <limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5" />
  945. <origin rpy="0 -1.5707963267948966 0" xyz="0 0.01 0" />
  946. <parent link="robot2_wrist_3_link" />
  947. <child link="left2_gripper" />
  948. </joint>
  949. <link name="left2_gripper">
  950. <visual>
  951. <origin rpy="0.0 0 0" xyz="0 0 0" />
  952. <geometry>
  953. <mesh filename="package://urdf_tutorial/meshes/l_finger.dae" />
  954. </geometry>
  955. </visual>
  956. <collision>
  957. <geometry>
  958. <mesh filename="package://urdf_tutorial/meshes/l_finger.dae" />
  959. </geometry>
  960. <origin rpy="0.0 0 0" xyz="0 0 0" />
  961. </collision>
  962.  
  963. <inertial>
  964. <mass value="0.05" />
  965. <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
  966. </inertial>
  967.  
  968. </link>
  969. <joint name="left2_tip_joint" type="fixed">
  970. <parent link="left2_gripper" />
  971. <child link="left2_tip" />
  972. </joint>
  973. <link name="left2_tip">
  974. <visual>
  975. <origin rpy="0.0 0 0" xyz="0.09137 0.00495 0" />
  976. <geometry>
  977. <mesh filename="package://urdf_tutorial/meshes/l_finger_tip.dae" />
  978. </geometry>
  979. </visual>
  980. <collision>
  981. <geometry>
  982. <mesh filename="package://urdf_tutorial/meshes/l_finger_tip.dae" />
  983. </geometry>
  984. <origin rpy="0.0 0 0" xyz="0.09137 0.00495 0" />
  985. </collision>
  986.  
  987. <inertial>
  988. <mass value="0.05" />
  989. <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
  990. </inertial>
  991.  
  992. </link>
  993. <joint name="right2_gripper_joint" type="revolute">
  994. <axis xyz="0 0 -1" />
  995. <limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5" />
  996. <origin rpy="0 -1.5707963267948966 0" xyz="0 -0.01 0" />
  997. <parent link="robot2_wrist_3_link" />
  998. <child link="right2_gripper" />
  999. </joint>
  1000. <link name="right2_gripper">
  1001. <visual>
  1002. <origin rpy="-3.141592653589793 0 0" xyz="0 0 0" />
  1003. <geometry>
  1004. <mesh filename="package://urdf_tutorial/meshes/l_finger.dae" />
  1005. </geometry>
  1006. </visual>
  1007. <collision>
  1008. <geometry>
  1009. <mesh filename="package://urdf_tutorial/meshes/l_finger.dae" />
  1010. </geometry>
  1011. <origin rpy="-3.141592653589793 0 0" xyz="0 0 0" />
  1012. </collision>
  1013.  
  1014. <inertial>
  1015. <mass value="0.05" />
  1016. <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
  1017. </inertial>
  1018.  
  1019. </link>
  1020. <joint name="right2_tip_joint" type="fixed">
  1021. <parent link="right2_gripper" />
  1022. <child link="right2_tip" />
  1023. </joint>
  1024. <link name="right2_tip">
  1025. <visual>
  1026. <origin rpy="-3.141592653589793 0 0" xyz="0.09137 0.00495 0" />
  1027. <geometry>
  1028. <mesh filename="package://urdf_tutorial/meshes/l_finger_tip.dae" />
  1029. </geometry>
  1030. </visual>
  1031. <collision>
  1032. <geometry>
  1033. <mesh filename="package://urdf_tutorial/meshes/l_finger_tip.dae" />
  1034. </geometry>
  1035. <origin rpy="-3.141592653589793 0 0" xyz="0.09137 0.00495 0" />
  1036. </collision>
  1037.  
  1038. <inertial>
  1039. <mass value="0.05" />
  1040. <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
  1041. </inertial>
  1042.  
  1043. </link>
  1044. <!-- ==================================================== -->
  1045. <!-- Robot 3 pedestal -->
  1046. <!-- ==================================================== -->
  1047. <!--
  1048. Base UR robot series xacro macro.
  1049.  
  1050. NOTE: this is NOT a URDF. It cannot directly be loaded by consumers
  1051. expecting a flattened '.urdf' file. See the top-level '.xacro' for that
  1052. (but note: that .xacro must still be processed by the xacro command).
  1053.  
  1054. For use in '.launch' files: use one of the 'load_urX.launch' convenience
  1055. launch files.
  1056.  
  1057. This file models the base kinematic chain of a UR robot, which then gets
  1058. parameterised by various configuration files to convert it into a UR3(e),
  1059. UR5(e), UR10(e) or UR16e.
  1060.  
  1061. NOTE: the default kinematic parameters (ie: link lengths, frame locations,
  1062. offets, etc) do not correspond to any particular robot. They are defaults
  1063. only. There WILL be non-zero offsets between the Forward Kinematics results
  1064. in TF (ie: robot_state_publisher) and the values reported by the Teach
  1065. Pendant.
  1066.  
  1067. For accurate (and robot-specific) transforms, the 'kinematics_parameters_file'
  1068. parameter MUST point to a .yaml file containing the appropriate values for
  1069. the targetted robot.
  1070.  
  1071. If using the UniversalRobots/Universal_Robots_ROS_Driver, follow the steps
  1072. described in the readme of that repository to extract the kinematic
  1073. calibration from the controller and generate the required .yaml file.
  1074.  
  1075. Main author of the migration to yaml configs: Ludovic Delval.
  1076.  
  1077. Contributors to previous versions (in no particular order):
  1078.  
  1079. - Felix Messmer
  1080. - Kelsey Hawkins
  1081. - Wim Meeussen
  1082. - Shaun Edwards
  1083. - Nadia Hammoudeh Garcia
  1084. - Dave Hershberger
  1085. - G. vd. Hoorn
  1086. - Philip Long
  1087. - Dave Coleman
  1088. - Miguel Prada
  1089. - Mathias Luedtke
  1090. - Marcel Schnirring
  1091. - Felix von Drigalski
  1092. - Felix Exner
  1093. - Jimmy Da Silva
  1094. - Ajit Krisshna N L
  1095. - Muhammad Asif Rana
  1096. -->
  1097. <!--
  1098. NOTE: the macro defined in this file is NOT part of the public API of this
  1099. package. Users CANNOT rely on this file being available, or stored in
  1100. this location. Nor can they rely on the existence of the macro.
  1101. -->
  1102. <transmission name="robot3_shoulder_pan_trans">
  1103. <type>transmission_interface/SimpleTransmission</type>
  1104. <joint name="robot3_shoulder_pan_joint">
  1105. <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
  1106. </joint>
  1107. <actuator name="robot3_shoulder_pan_motor">
  1108. <mechanicalReduction>1</mechanicalReduction>
  1109. </actuator>
  1110. </transmission>
  1111. <transmission name="robot3_shoulder_lift_trans">
  1112. <type>transmission_interface/SimpleTransmission</type>
  1113. <joint name="robot3_shoulder_lift_joint">
  1114. <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
  1115. </joint>
  1116. <actuator name="robot3_shoulder_lift_motor">
  1117. <mechanicalReduction>1</mechanicalReduction>
  1118. </actuator>
  1119. </transmission>
  1120. <transmission name="robot3_elbow_trans">
  1121. <type>transmission_interface/SimpleTransmission</type>
  1122. <joint name="robot3_elbow_joint">
  1123. <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
  1124. </joint>
  1125. <actuator name="robot3_elbow_motor">
  1126. <mechanicalReduction>1</mechanicalReduction>
  1127. </actuator>
  1128. </transmission>
  1129. <transmission name="robot3_wrist_1_trans">
  1130. <type>transmission_interface/SimpleTransmission</type>
  1131. <joint name="robot3_wrist_1_joint">
  1132. <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
  1133. </joint>
  1134. <actuator name="robot3_wrist_1_motor">
  1135. <mechanicalReduction>1</mechanicalReduction>
  1136. </actuator>
  1137. </transmission>
  1138. <transmission name="robot3_wrist_2_trans">
  1139. <type>transmission_interface/SimpleTransmission</type>
  1140. <joint name="robot3_wrist_2_joint">
  1141. <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
  1142. </joint>
  1143. <actuator name="robot3_wrist_2_motor">
  1144. <mechanicalReduction>1</mechanicalReduction>
  1145. </actuator>
  1146. </transmission>
  1147. <transmission name="robot3_wrist_3_trans">
  1148. <type>transmission_interface/SimpleTransmission</type>
  1149. <joint name="robot3_wrist_3_joint">
  1150. <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
  1151. </joint>
  1152. <actuator name="robot3_wrist_3_motor">
  1153. <mechanicalReduction>1</mechanicalReduction>
  1154. </actuator>
  1155. </transmission>
  1156. <!-- links: main serial chain -->
  1157. <link name="robot3_base_link" />
  1158. <link name="robot3_base_link_inertia">
  1159. <visual>
  1160. <origin rpy="0 0 3.141592653589793" xyz="0 0 0" />
  1161. <geometry>
  1162. <mesh filename="package://ur_description/meshes/ur10e/visual/base.dae" />
  1163. </geometry>
  1164. <material name="LightGrey">
  1165. <color rgba="0.7 0.7 0.7 1.0" />
  1166. </material>
  1167. </visual>
  1168. <collision>
  1169. <origin rpy="0 0 3.141592653589793" xyz="0 0 0" />
  1170. <geometry>
  1171. <mesh filename="package://ur_description/meshes/ur10e/collision/base.stl" />
  1172. </geometry>
  1173. </collision>
  1174.  
  1175. <inertial>
  1176. <mass value="4.0" />
  1177. <origin rpy="0 0 0" xyz="0 0 0" />
  1178. <inertia ixx="0.0061063308908" ixy="0.0" ixz="0.0" iyy="0.0061063308908" iyz="0.0" izz="0.01125" />
  1179. </inertial>
  1180.  
  1181. </link>
  1182. <link name="robot3_shoulder_link">
  1183. <visual>
  1184. <origin rpy="0 0 3.141592653589793" xyz="0 0 0" />
  1185. <geometry>
  1186. <mesh filename="package://ur_description/meshes/ur10e/visual/shoulder.dae" />
  1187. </geometry>
  1188. <material name="LightGrey">
  1189. <color rgba="0.7 0.7 0.7 1.0" />
  1190. </material>
  1191. </visual>
  1192. <collision>
  1193. <origin rpy="0 0 3.141592653589793" xyz="0 0 0" />
  1194. <geometry>
  1195. <mesh filename="package://ur_description/meshes/ur10e/collision/shoulder.stl" />
  1196. </geometry>
  1197. </collision>
  1198.  
  1199. <inertial>
  1200. <mass value="7.369" />
  1201. <origin rpy="0 0 0" xyz="0 0 0" />
  1202. <inertia ixx="0.029819260655624295" ixy="0.0" ixz="0.0" iyy="0.029819260655624295" iyz="0.0" izz="0.020725312499999995" />
  1203. </inertial>
  1204.  
  1205. </link>
  1206. <link name="robot3_upper_arm_link">
  1207. <visual>
  1208. <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.176" />
  1209. <geometry>
  1210. <mesh filename="package://ur_description/meshes/ur16e/visual/upperarm.dae" />
  1211. </geometry>
  1212. <material name="LightGrey">
  1213. <color rgba="0.7 0.7 0.7 1.0" />
  1214. </material>
  1215. </visual>
  1216. <collision>
  1217. <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.176" />
  1218. <geometry>
  1219. <mesh filename="package://ur_description/meshes/ur16e/collision/upperarm.stl" />
  1220. </geometry>
  1221. </collision>
  1222.  
  1223. <inertial>
  1224. <mass value="10.45" />
  1225. <origin rpy="0 1.5707963267948966 0" xyz="-0.2392 0.0 0.175" />
  1226. <inertia ixx="0.21399985623335657" ixy="0.0" ixz="0.0" iyy="0.21399985623335657" iyz="0.0" izz="0.029390624999999997" />
  1227. </inertial>
  1228.  
  1229. </link>
  1230. <link name="robot3_forearm_link">
  1231. <visual>
  1232. <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.04" />
  1233. <geometry>
  1234. <mesh filename="package://ur_description/meshes/ur16e/visual/forearm.dae" />
  1235. </geometry>
  1236. <material name="LightGrey">
  1237. <color rgba="0.7 0.7 0.7 1.0" />
  1238. </material>
  1239. </visual>
  1240. <collision>
  1241. <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.04" />
  1242. <geometry>
  1243. <mesh filename="package://ur_description/meshes/ur16e/collision/forearm.stl" />
  1244. </geometry>
  1245. </collision>
  1246.  
  1247. <inertial>
  1248. <mass value="4.321" />
  1249. <origin rpy="0 1.5707963267948966 0" xyz="-0.18 0.0 0.04" />
  1250. <inertia ixx="0.052743185152717496" ixy="0.0" ixz="0.0" iyy="0.052743185152717496" iyz="0.0" izz="0.012152812499999997" />
  1251. </inertial>
  1252.  
  1253. </link>
  1254. <link name="robot3_wrist_1_link">
  1255. <visual>
  1256. <!-- TODO: Move this to a parameter -->
  1257. <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.135" />
  1258. <geometry>
  1259. <mesh filename="package://ur_description/meshes/ur10e/visual/wrist1.dae" />
  1260. </geometry>
  1261. <material name="LightGrey">
  1262. <color rgba="0.7 0.7 0.7 1.0" />
  1263. </material>
  1264. </visual>
  1265. <collision>
  1266. <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.135" />
  1267. <geometry>
  1268. <mesh filename="package://ur_description/meshes/ur10e/collision/wrist1.stl" />
  1269. </geometry>
  1270. </collision>
  1271.  
  1272. <inertial>
  1273. <mass value="2.18" />
  1274. <origin rpy="0 0 0" xyz="0 0 0" />
  1275. <inertia ixx="0.0056816227273499996" ixy="0.0" ixz="0.0" iyy="0.0056816227273499996" iyz="0.0" izz="0.00613125" />
  1276. </inertial>
  1277.  
  1278. </link>
  1279. <link name="robot3_wrist_2_link">
  1280. <visual>
  1281. <origin rpy="0 0 0" xyz="0 0 -0.12" />
  1282. <geometry>
  1283. <mesh filename="package://ur_description/meshes/ur10e/visual/wrist2.dae" />
  1284. </geometry>
  1285. <material name="LightGrey">
  1286. <color rgba="0.7 0.7 0.7 1.0" />
  1287. </material>
  1288. </visual>
  1289. <collision>
  1290. <origin rpy="0 0 0" xyz="0 0 -0.12" />
  1291. <geometry>
  1292. <mesh filename="package://ur_description/meshes/ur10e/collision/wrist2.stl" />
  1293. </geometry>
  1294. </collision>
  1295.  
  1296. <inertial>
  1297. <mass value="2.033" />
  1298. <origin rpy="0 0 0" xyz="0 0 0" />
  1299. <inertia ixx="0.0052985041305975" ixy="0.0" ixz="0.0" iyy="0.0052985041305975" iyz="0.0" izz="0.0057178125" />
  1300. </inertial>
  1301.  
  1302. </link>
  1303. <link name="robot3_wrist_3_link">
  1304. <visual>
  1305. <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.1168" />
  1306. <geometry>
  1307. <mesh filename="package://ur_description/meshes/ur10e/visual/wrist3.dae" />
  1308. </geometry>
  1309. <material name="LightGrey">
  1310. <color rgba="0.7 0.7 0.7 1.0" />
  1311. </material>
  1312. </visual>
  1313. <collision>
  1314. <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.1168" />
  1315. <geometry>
  1316. <mesh filename="package://ur_description/meshes/ur10e/collision/wrist3.stl" />
  1317. </geometry>
  1318. </collision>
  1319.  
  1320. <inertial>
  1321. <mass value="0.907" />
  1322. <origin rpy="0 0 0" xyz="0.0 0.0 -0.025" />
  1323. <inertia ixx="0.0006481268240825001" ixy="0.0" ixz="0.0" iyy="0.0006481268240825001" iyz="0.0" izz="0.0009183374999999999" />
  1324. </inertial>
  1325.  
  1326. </link>
  1327. <!-- joints: main serial chain -->
  1328. <joint name="robot3_base_link-base_link_inertia" type="fixed">
  1329. <parent link="robot3_base_link" />
  1330. <child link="robot3_base_link_inertia" />
  1331. <!-- 'base_link' is REP-103 aligned (so X+ forward), while the internal
  1332. frames of the robot/controller have X+ pointing backwards.
  1333. Use the joint between 'base_link' and 'base_link_inertia' (a dummy
  1334. link/frame) to introduce the necessary rotation over Z (of pi rad).
  1335. -->
  1336. <origin rpy="0 0 3.141592653589793" xyz="0 0 0" />
  1337. </joint>
  1338. <joint name="robot3_shoulder_pan_joint" type="revolute">
  1339. <parent link="robot3_base_link_inertia" />
  1340. <child link="robot3_shoulder_link" />
  1341. <origin rpy="0 0 0" xyz="0 0 0.1807" />
  1342. <axis xyz="0 0 1" />
  1343. <limit effort="330.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="2.0943951023931953" />
  1344. <dynamics damping="0" friction="0" />
  1345. </joint>
  1346. <joint name="robot3_shoulder_lift_joint" type="revolute">
  1347. <parent link="robot3_shoulder_link" />
  1348. <child link="robot3_upper_arm_link" />
  1349. <origin rpy="1.570796327 0 0" xyz="0 0 0" />
  1350. <axis xyz="0 0 1" />
  1351. <limit effort="330.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="2.0943951023931953" />
  1352. <dynamics damping="0" friction="0" />
  1353. </joint>
  1354. <joint name="robot3_elbow_joint" type="revolute">
  1355. <parent link="robot3_upper_arm_link" />
  1356. <child link="robot3_forearm_link" />
  1357. <origin rpy="0 0 0" xyz="-0.4784 0 0" />
  1358. <axis xyz="0 0 1" />
  1359. <limit effort="150.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="3.141592653589793" />
  1360. <dynamics damping="0" friction="0" />
  1361. </joint>
  1362. <joint name="robot3_wrist_1_joint" type="revolute">
  1363. <parent link="robot3_forearm_link" />
  1364. <child link="robot3_wrist_1_link" />
  1365. <origin rpy="0 0 0" xyz="-0.36 0 0.17415" />
  1366. <axis xyz="0 0 1" />
  1367. <limit effort="56.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793" />
  1368. <dynamics damping="0" friction="0" />
  1369. </joint>
  1370. <joint name="robot3_wrist_2_joint" type="revolute">
  1371. <parent link="robot3_wrist_1_link" />
  1372. <child link="robot3_wrist_2_link" />
  1373. <origin rpy="1.570796327 0 0" xyz="0 -0.11985 -2.458164590756244e-11" />
  1374. <axis xyz="0 0 1" />
  1375. <limit effort="56.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793" />
  1376. <dynamics damping="0" friction="0" />
  1377. </joint>
  1378. <joint name="robot3_wrist_3_joint" type="revolute">
  1379. <parent link="robot3_wrist_2_link" />
  1380. <child link="robot3_wrist_3_link" />
  1381. <origin rpy="1.570796326589793 3.141592653589793 3.141592653589793" xyz="0 0.11655 -2.390480459346185e-11" />
  1382. <axis xyz="0 0 1" />
  1383. <limit effort="56.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793" />
  1384. <dynamics damping="0" friction="0" />
  1385. </joint>
  1386. <!-- ROS-Industrial 'base' frame: base_link to UR 'Base' Coordinates transform -->
  1387. <link name="robot3_base" />
  1388. <joint name="robot3_base_link-base_fixed_joint" type="fixed">
  1389. <!-- Note the rotation over Z of pi radians: as base_link is REP-103
  1390. aligned (ie: has X+ forward, Y+ left and Z+ up), this is needed
  1391. to correctly align 'base' with the 'Base' coordinate system of
  1392. the UR controller.
  1393. -->
  1394. <origin rpy="0 0 3.141592653589793" xyz="0 0 0" />
  1395. <parent link="robot3_base_link" />
  1396. <child link="robot3_base" />
  1397. </joint>
  1398. <!-- ROS-Industrial 'flange' frame: attachment point for EEF models -->
  1399. <link name="robot3_flange" />
  1400. <joint name="robot3_wrist_3-flange" type="fixed">
  1401. <parent link="robot3_wrist_3_link" />
  1402. <child link="robot3_flange" />
  1403. <origin rpy="0 -1.5707963267948966 -1.5707963267948966" xyz="0 0 0" />
  1404. </joint>
  1405. <!-- ROS-Industrial 'tool0' frame: all-zeros tool frame -->
  1406. <link name="robot3_tool0" />
  1407. <joint name="robot3_flange-tool0" type="fixed">
  1408. <!-- default toolframe: X+ left, Y+ up, Z+ front -->
  1409. <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0 0 0" />
  1410. <parent link="robot3_flange" />
  1411. <child link="robot3_tool0" />
  1412. </joint>
  1413. <joint name="robot3_pedestal_joint" type="fixed">
  1414. <origin rpy="0 0 0" xyz="0.5 0 0.0" />
  1415. <parent link="world_interface" />
  1416. <child link="robot3_pedestal_link" />
  1417. </joint>
  1418. <link name="robot3_pedestal_link">
  1419. <visual>
  1420. <origin xyz="0 0 0.475" />
  1421. <geometry>
  1422. <box size="0.3 0.3 0.95" />
  1423. </geometry>
  1424. <material name="pedestal_color">
  1425. <color rgba="0 0.1568627450980392 0.5254901960784314 1" />
  1426. </material>
  1427. </visual>
  1428. <collision>
  1429. <origin xyz="0 0 0.475" />
  1430. <geometry>
  1431. <box size="0.3 0.3 0.95" />
  1432. </geometry>
  1433. </collision>
  1434.  
  1435. <inertial>
  1436. <mass value="500" />
  1437. <origin rpy="0 0 0" xyz="0 0 0" />
  1438. <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001" />
  1439. </inertial>
  1440.  
  1441. </link>
  1442. <gazebo reference="robot3_pedestal_link">
  1443. <material>Gazebo/Blue</material>
  1444. </gazebo>
  1445. <joint name="robot3-robot3_pedestal_joint" type="fixed">
  1446. <parent link="robot3_pedestal_link" />
  1447. <child link="robot3_base_link" />
  1448. <origin rpy="0 0 0" xyz="0 0 0.95" />
  1449. </joint>
  1450. <joint name="left3_gripper_joint" type="revolute">
  1451. <axis xyz="0 0 1" />
  1452. <limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5" />
  1453. <origin rpy="0 -1.5707963267948966 0" xyz="0 0.01 0" />
  1454. <parent link="robot3_wrist_3_link" />
  1455. <child link="left3_gripper" />
  1456. </joint>
  1457. <link name="left3_gripper">
  1458. <visual>
  1459. <origin rpy="0.0 0 0" xyz="0 0 0" />
  1460. <geometry>
  1461. <mesh filename="package://urdf_tutorial/meshes/l_finger.dae" />
  1462. </geometry>
  1463. </visual>
  1464. <collision>
  1465. <geometry>
  1466. <mesh filename="package://urdf_tutorial/meshes/l_finger.dae" />
  1467. </geometry>
  1468. <origin rpy="0.0 0 0" xyz="0 0 0" />
  1469. </collision>
  1470.  
  1471. <inertial>
  1472. <mass value="0.05" />
  1473. <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
  1474. </inertial>
  1475.  
  1476. </link>
  1477. <joint name="left3_tip_joint" type="fixed">
  1478. <parent link="left3_gripper" />
  1479. <child link="left3_tip" />
  1480. </joint>
  1481. <link name="left3_tip">
  1482. <visual>
  1483. <origin rpy="0.0 0 0" xyz="0.09137 0.00495 0" />
  1484. <geometry>
  1485. <mesh filename="package://urdf_tutorial/meshes/l_finger_tip.dae" />
  1486. </geometry>
  1487. </visual>
  1488. <collision>
  1489. <geometry>
  1490. <mesh filename="package://urdf_tutorial/meshes/l_finger_tip.dae" />
  1491. </geometry>
  1492. <origin rpy="0.0 0 0" xyz="0.09137 0.00495 0" />
  1493. </collision>
  1494.  
  1495. <inertial>
  1496. <mass value="0.05" />
  1497. <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
  1498. </inertial>
  1499.  
  1500. </link>
  1501. <joint name="right_gripper_joint" type="revolute">
  1502. <axis xyz="0 0 -1" />
  1503. <limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5" />
  1504. <origin rpy="0 -1.5707963267948966 0" xyz="0 -0.01 0" />
  1505. <parent link="robot3_wrist_3_link" />
  1506. <child link="right_gripper" />
  1507. </joint>
  1508. <link name="right_gripper">
  1509. <visual>
  1510. <origin rpy="-3.141592653589793 0 0" xyz="0 0 0" />
  1511. <geometry>
  1512. <mesh filename="package://urdf_tutorial/meshes/l_finger.dae" />
  1513. </geometry>
  1514. </visual>
  1515. <collision>
  1516. <geometry>
  1517. <mesh filename="package://urdf_tutorial/meshes/l_finger.dae" />
  1518. </geometry>
  1519. <origin rpy="-3.141592653589793 0 0" xyz="0 0 0" />
  1520. </collision>
  1521.  
  1522. <inertial>
  1523. <mass value="0.05" />
  1524. <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
  1525. </inertial>
  1526.  
  1527. </link>
  1528. <joint name="right_tip_joint" type="fixed">
  1529. <parent link="right_gripper" />
  1530. <child link="right_tip" />
  1531. </joint>
  1532. <link name="right_tip">
  1533. <visual>
  1534. <origin rpy="-3.141592653589793 0 0" xyz="0.09137 0.00495 0" />
  1535. <geometry>
  1536. <mesh filename="package://urdf_tutorial/meshes/l_finger_tip.dae" />
  1537. </geometry>
  1538. </visual>
  1539. <collision>
  1540. <geometry>
  1541. <mesh filename="package://urdf_tutorial/meshes/l_finger_tip.dae" />
  1542. </geometry>
  1543. <origin rpy="-3.141592653589793 0 0" xyz="0.09137 0.00495 0" />
  1544. </collision>
  1545.  
  1546. <inertial>
  1547. <mass value="0.05" />
  1548. <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
  1549. </inertial>
  1550.  
  1551. </link>
  1552. <!-- Links -->
  1553. <link name="module1festo_module">
  1554. <visual>
  1555. <geometry>
  1556. <mesh filename="package://aau_lab_ros_models/meshes/festo_bypass_module/festo_bypass_module.dae" />
  1557. </geometry>
  1558. </visual>
  1559. <collision>
  1560. <geometry>
  1561. <mesh filename="package://aau_lab_ros_models/meshes/festo_bypass_module/festo_bypass_module.dae" />
  1562. </geometry>
  1563. </collision>
  1564.  
  1565. <inertial>
  1566. <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0" />
  1567. <mass value="100" />
  1568. </inertial>
  1569.  
  1570. </link>
  1571. <joint name="module1festo_module_to_world_interface" type="fixed">
  1572. <origin rpy="0 0 0" xyz="1.0 -2.2 0.0" />
  1573. <parent link="world_interface" />
  1574. <child link="module1festo_module" />
  1575. <!-- <origin xyz="0 0 0" rpy="0 0 0" /> -->
  1576. </joint>
  1577. <!-- Links -->
  1578. <link name="module2festo_module">
  1579. <visual>
  1580. <geometry>
  1581. <mesh filename="package://aau_lab_ros_models/meshes/festo_straight_module/festo_straight_module.dae" />
  1582. </geometry>
  1583. </visual>
  1584. <collision>
  1585. <geometry>
  1586. <mesh filename="package://aau_lab_ros_models/meshes/festo_straight_module/festo_straight_module.dae" />
  1587. </geometry>
  1588. </collision>
  1589.  
  1590. <inertial>
  1591. <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0" />
  1592. <mass value="100" />
  1593. </inertial>
  1594.  
  1595. </link>
  1596. <joint name="module2festo_module_to_world_interface" type="fixed">
  1597. <origin rpy="0 0 0" xyz="1.0 -1.0 0.0" />
  1598. <parent link="world_interface" />
  1599. <child link="module2festo_module" />
  1600. <!-- <origin xyz="0 0 0" rpy="0 0 0" /> -->
  1601. </joint>
  1602. <!-- Links -->
  1603. <link name="module3festo_module">
  1604. <visual>
  1605. <geometry>
  1606. <mesh filename="package://aau_lab_ros_models/meshes/festo_straight_module/festo_straight_module.dae" />
  1607. </geometry>
  1608. </visual>
  1609. <collision>
  1610. <geometry>
  1611. <mesh filename="package://aau_lab_ros_models/meshes/festo_straight_module/festo_straight_module.dae" />
  1612. </geometry>
  1613. </collision>
  1614.  
  1615. <inertial>
  1616. <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0" />
  1617. <mass value="100" />
  1618. </inertial>
  1619.  
  1620. </link>
  1621. <joint name="module3festo_module_to_world_interface" type="fixed">
  1622. <origin rpy="0 0 0" xyz="1.0 0.2 0.0" />
  1623. <parent link="world_interface" />
  1624. <child link="module3festo_module" />
  1625. <!-- <origin xyz="0 0 0" rpy="0 0 0" /> -->
  1626. </joint>
  1627. <!-- Links -->
  1628. <link name="module4festo_module">
  1629. <visual>
  1630. <geometry>
  1631. <mesh filename="package://aau_lab_ros_models/meshes/festo_straight_module/festo_straight_module.dae" />
  1632. </geometry>
  1633. </visual>
  1634. <collision>
  1635. <geometry>
  1636. <mesh filename="package://aau_lab_ros_models/meshes/festo_straight_module/festo_straight_module.dae" />
  1637. </geometry>
  1638. </collision>
  1639.  
  1640. <inertial>
  1641. <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0" />
  1642. <mass value="100" />
  1643. </inertial>
  1644.  
  1645. </link>
  1646. <joint name="module4festo_module_to_world_interface" type="fixed">
  1647. <origin rpy="0 0 0" xyz="1.0 1.4 0.0" />
  1648. <parent link="world_interface" />
  1649. <child link="module4festo_module" />
  1650. <!-- <origin xyz="0 0 0" rpy="0 0 0" /> -->
  1651. </joint>
  1652. <!-- Links -->
  1653. <link name="module5festo_module">
  1654. <visual>
  1655. <geometry>
  1656. <mesh filename="package://aau_lab_ros_models/meshes/festo_t_module/festo_t_module.dae" />
  1657. </geometry>
  1658. </visual>
  1659. <collision>
  1660. <geometry>
  1661. <mesh filename="package://aau_lab_ros_models/meshes/festo_t_module/festo_t_module.dae" />
  1662. </geometry>
  1663. </collision>
  1664.  
  1665. <inertial>
  1666. <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0" />
  1667. <mass value="100" />
  1668. </inertial>
  1669.  
  1670. </link>
  1671. <joint name="module5festo_module_to_world_interface" type="fixed">
  1672. <origin rpy="0 0 0" xyz="1.0 2.6 0.0" />
  1673. <parent link="world_interface" />
  1674. <child link="module5festo_module" />
  1675. <!-- <origin xyz="0 0 0" rpy="0 0 0" /> -->
  1676. </joint>
  1677. <!-- link list -->
  1678. <link name="bin_1_base_link">
  1679. <visual>
  1680. <origin rpy="0 0 0" xyz="0 0 0" />
  1681. <geometry>
  1682. <mesh filename="package://omtp_support/meshes/bin/visual/bin.dae" />
  1683. <scale>0.6 0.6 0.6</scale>
  1684. </geometry>
  1685. </visual>
  1686. <collision>
  1687. <origin rpy="0 0 0" xyz="0 0 0" />
  1688. <geometry>
  1689. <mesh filename="package://omtp_support/meshes/bin/collision/bin_bottom.dae" />
  1690. <scale>0.6 0.6 0.6</scale>
  1691. </geometry>
  1692. </collision>
  1693. <collision>
  1694. <origin rpy="0 0 0" xyz="0 0 0" />
  1695. <geometry>
  1696. <mesh filename="package://omtp_support/meshes/bin/collision/bin_sides.dae" />
  1697. <scale>0.6 0.6 0.6</scale>
  1698. </geometry>
  1699. </collision>
  1700.  
  1701. <inertial>
  1702. <origin rpy="0 0 0" xyz="0 0 0" />
  1703. <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0" />
  1704. <mass value="100" />
  1705. </inertial>
  1706.  
  1707. </link>
  1708. <link name="bin_1_drop_point">
  1709.  
  1710. <inertial>
  1711. <origin rpy="0 0 0" xyz="0 0 0" />
  1712. <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0" />
  1713. <mass value="1.0" />
  1714. </inertial>
  1715.  
  1716. </link>
  1717. <!-- joint list -->
  1718. <joint name="bin_1_joint_1" type="fixed">
  1719. <origin rpy="0 0 0" xyz="0 0 1.0" />
  1720. <parent link="bin_1_base_link" />
  1721. <child link="bin_1_drop_point" />
  1722. </joint>
  1723. <!-- link list -->
  1724. <link name="bin_2_base_link">
  1725. <visual>
  1726. <origin rpy="0 0 0" xyz="0 0 0" />
  1727. <geometry>
  1728. <mesh filename="package://omtp_support/meshes/bin/visual/bin.dae" />
  1729. <scale>0.6 0.6 0.6</scale>
  1730. </geometry>
  1731. </visual>
  1732. <collision>
  1733. <origin rpy="0 0 0" xyz="0 0 0" />
  1734. <geometry>
  1735. <mesh filename="package://omtp_support/meshes/bin/collision/bin_bottom.dae" />
  1736. <scale>0.6 0.6 0.6</scale>
  1737. </geometry>
  1738. </collision>
  1739. <collision>
  1740. <origin rpy="0 0 0" xyz="0 0 0" />
  1741. <geometry>
  1742. <mesh filename="package://omtp_support/meshes/bin/collision/bin_sides.dae" />
  1743. <scale>0.6 0.6 0.6</scale>
  1744. </geometry>
  1745. </collision>
  1746.  
  1747. <inertial>
  1748. <origin rpy="0 0 0" xyz="0 0 0" />
  1749. <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0" />
  1750. <mass value="100" />
  1751. </inertial>
  1752.  
  1753. </link>
  1754. <link name="bin_2_drop_point">
  1755.  
  1756. <inertial>
  1757. <origin rpy="0 0 0" xyz="0 0 0" />
  1758. <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0" />
  1759. <mass value="1.0" />
  1760. </inertial>
  1761.  
  1762. </link>
  1763. <!-- joint list -->
  1764. <joint name="bin_2_joint_1" type="fixed">
  1765. <origin rpy="0 0 0" xyz="0 0 1.0" />
  1766. <parent link="bin_2_base_link" />
  1767. <child link="bin_2_drop_point" />
  1768. </joint>
  1769. <!-- link list -->
  1770. <link name="bin_3_base_link">
  1771. <visual>
  1772. <origin rpy="0 0 0" xyz="0 0 0" />
  1773. <geometry>
  1774. <mesh filename="package://omtp_support/meshes/bin/visual/bin.dae" />
  1775. <scale>0.6 0.6 0.6</scale>
  1776. </geometry>
  1777. </visual>
  1778. <collision>
  1779. <origin rpy="0 0 0" xyz="0 0 0" />
  1780. <geometry>
  1781. <mesh filename="package://omtp_support/meshes/bin/collision/bin_bottom.dae" />
  1782. <scale>0.6 0.6 0.6</scale>
  1783. </geometry>
  1784. </collision>
  1785. <collision>
  1786. <origin rpy="0 0 0" xyz="0 0 0" />
  1787. <geometry>
  1788. <mesh filename="package://omtp_support/meshes/bin/collision/bin_sides.dae" />
  1789. <scale>0.6 0.6 0.6</scale>
  1790. </geometry>
  1791. </collision>
  1792.  
  1793. <inertial>
  1794. <origin rpy="0 0 0" xyz="0 0 0" />
  1795. <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0" />
  1796. <mass value="100" />
  1797. </inertial>
  1798.  
  1799. </link>
  1800. <link name="bin_3_drop_point">
  1801.  
  1802. <inertial>
  1803. <origin rpy="0 0 0" xyz="0 0 0" />
  1804. <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0" />
  1805. <mass value="1.0" />
  1806. </inertial>
  1807.  
  1808. </link>
  1809. <!-- joint list -->
  1810. <joint name="bin_3_joint_1" type="fixed">
  1811. <origin rpy="0 0 0" xyz="0 0 1.0" />
  1812. <parent link="bin_3_base_link" />
  1813. <child link="bin_3_drop_point" />
  1814. </joint>
  1815. <!-- link list -->
  1816. <link name="bin_4_base_link">
  1817. <visual>
  1818. <origin rpy="0 0 0" xyz="0 0 0" />
  1819. <geometry>
  1820. <mesh filename="package://omtp_support/meshes/bin/visual/bin.dae" />
  1821. <scale>0.6 0.6 0.6</scale>
  1822. </geometry>
  1823. </visual>
  1824. <collision>
  1825. <origin rpy="0 0 0" xyz="0 0 0" />
  1826. <geometry>
  1827. <mesh filename="package://omtp_support/meshes/bin/collision/bin_bottom.dae" />
  1828. <scale>0.6 0.6 0.6</scale>
  1829. </geometry>
  1830. </collision>
  1831. <collision>
  1832. <origin rpy="0 0 0" xyz="0 0 0" />
  1833. <geometry>
  1834. <mesh filename="package://omtp_support/meshes/bin/collision/bin_sides.dae" />
  1835. <scale>0.6 0.6 0.6</scale>
  1836. </geometry>
  1837. </collision>
  1838.  
  1839. <inertial>
  1840. <origin rpy="0 0 0" xyz="0 0 0" />
  1841. <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0" />
  1842. <mass value="100" />
  1843. </inertial>
  1844.  
  1845. </link>
  1846. <link name="bin_4_drop_point">
  1847.  
  1848. <inertial>
  1849. <origin rpy="0 0 0" xyz="0 0 0" />
  1850. <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0" />
  1851. <mass value="1.0" />
  1852. </inertial>
  1853.  
  1854. </link>
  1855. <!-- joint list -->
  1856. <joint name="bin_4_joint_1" type="fixed">
  1857. <origin rpy="0 0 0" xyz="0 0 1.0" />
  1858. <parent link="bin_4_base_link" />
  1859. <child link="bin_4_drop_point" />
  1860. </joint>
  1861. <!-- link list -->
  1862. <link name="bin_5_base_link">
  1863. <visual>
  1864. <origin rpy="0 0 0" xyz="0 0 0" />
  1865. <geometry>
  1866. <mesh filename="package://omtp_support/meshes/bin/visual/bin.dae" />
  1867. <scale>0.6 0.6 0.6</scale>
  1868. </geometry>
  1869. </visual>
  1870. <collision>
  1871. <origin rpy="0 0 0" xyz="0 0 0" />
  1872. <geometry>
  1873. <mesh filename="package://omtp_support/meshes/bin/collision/bin_bottom.dae" />
  1874. <scale>0.6 0.6 0.6</scale>
  1875. </geometry>
  1876. </collision>
  1877. <collision>
  1878. <origin rpy="0 0 0" xyz="0 0 0" />
  1879. <geometry>
  1880. <mesh filename="package://omtp_support/meshes/bin/collision/bin_sides.dae" />
  1881. <scale>0.6 0.6 0.6</scale>
  1882. </geometry>
  1883. </collision>
  1884.  
  1885. <inertial>
  1886. <origin rpy="0 0 0" xyz="0 0 0" />
  1887. <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0" />
  1888. <mass value="100" />
  1889. </inertial>
  1890.  
  1891. </link>
  1892. <link name="bin_5_drop_point">
  1893.  
  1894. <inertial>
  1895. <origin rpy="0 0 0" xyz="0 0 0" />
  1896. <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0" />
  1897. <mass value="1.0" />
  1898. </inertial>
  1899.  
  1900. </link>
  1901. <!-- joint list -->
  1902. <joint name="bin_5_joint_1" type="fixed">
  1903. <origin rpy="0 0 0" xyz="0 0 1.0" />
  1904. <parent link="bin_5_base_link" />
  1905. <child link="bin_5_drop_point" />
  1906. </joint>
  1907. <!-- Bin 1 -->
  1908. <joint name="bin_1_joint" type="fixed">
  1909. <parent link="world_interface" />
  1910. <child link="bin_1_base_link" />
  1911. <origin rpy="0 0 0" xyz="-0.3 1.2 0.0" />
  1912. </joint>
  1913. <!-- Bin 2 -->
  1914. <joint name="bin_2_joint" type="fixed">
  1915. <parent link="world_interface" />
  1916. <child link="bin_2_base_link" />
  1917. <origin rpy="0 0 0" xyz="-0.3 0.4 0.0" />
  1918. </joint>
  1919. <!-- Bin 3 -->
  1920. <joint name="bin_3_joint" type="fixed">
  1921. <parent link="world_interface" />
  1922. <child link="bin_3_base_link" />
  1923. <origin rpy="0 0 0" xyz="-0.3 -0.4 0.0" />
  1924. </joint>
  1925. <!-- Bin 4 -->
  1926. <joint name="bin_4_joint" type="fixed">
  1927. <parent link="world_interface" />
  1928. <child link="bin_4_base_link" />
  1929. <origin rpy="0 0 0" xyz="-0.3 -1.2 0.0" />
  1930. </joint>
  1931. <!-- Bin 5 -->
  1932. <joint name="bin_5_joint" type="fixed">
  1933. <parent link="world_interface" />
  1934. <child link="bin_5_base_link" />
  1935. <origin rpy="0 0 0" xyz="-0.3 -2.0 0.0" />
  1936. </joint>
  1937. <transmission name="trans_panda_1_joint1">
  1938. <type>transmission_interface/SimpleTransmission</type>
  1939. <joint name="panda_1_joint1">
  1940. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  1941. </joint>
  1942. <actuator name="panda_1_joint1_motor">
  1943. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  1944. <mechanicalReduction>1</mechanicalReduction>
  1945. </actuator>
  1946. </transmission>
  1947. <transmission name="trans_panda_1_joint2">
  1948. <type>transmission_interface/SimpleTransmission</type>
  1949. <joint name="panda_1_joint2">
  1950. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  1951. </joint>
  1952. <actuator name="panda_1_joint2_motor">
  1953. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  1954. <mechanicalReduction>1</mechanicalReduction>
  1955. </actuator>
  1956. </transmission>
  1957. <transmission name="trans_panda_1_joint3">
  1958. <type>transmission_interface/SimpleTransmission</type>
  1959. <joint name="panda_1_joint3">
  1960. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  1961. </joint>
  1962. <actuator name="panda_1_joint3_motor">
  1963. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  1964. <mechanicalReduction>1</mechanicalReduction>
  1965. </actuator>
  1966. </transmission>
  1967. <transmission name="trans_panda_1_joint4">
  1968. <type>transmission_interface/SimpleTransmission</type>
  1969. <joint name="panda_1_joint4">
  1970. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  1971. </joint>
  1972. <actuator name="panda_1_joint4_motor">
  1973. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  1974. <mechanicalReduction>1</mechanicalReduction>
  1975. </actuator>
  1976. </transmission>
  1977. <transmission name="trans_panda_1_joint5">
  1978. <type>transmission_interface/SimpleTransmission</type>
  1979. <joint name="panda_1_joint5">
  1980. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  1981. </joint>
  1982. <actuator name="panda_1_joint5_motor">
  1983. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  1984. <mechanicalReduction>1</mechanicalReduction>
  1985. </actuator>
  1986. </transmission>
  1987. <transmission name="trans_panda_1_joint6">
  1988. <type>transmission_interface/SimpleTransmission</type>
  1989. <joint name="panda_1_joint6">
  1990. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  1991. </joint>
  1992. <actuator name="panda_1_joint6_motor">
  1993. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  1994. <mechanicalReduction>1</mechanicalReduction>
  1995. </actuator>
  1996. </transmission>
  1997. <transmission name="trans_panda_1_joint7">
  1998. <type>transmission_interface/SimpleTransmission</type>
  1999. <joint name="panda_1_joint7">
  2000. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  2001. </joint>
  2002. <actuator name="panda_1_joint7_motor">
  2003. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  2004. <mechanicalReduction>1</mechanicalReduction>
  2005. </actuator>
  2006. </transmission>
  2007. <transmission name="trans_panda_1_finger_joint1">
  2008. <type>transmission_interface/SimpleTransmission</type>
  2009. <joint name="panda_1_finger_joint1">
  2010. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  2011. </joint>
  2012. <actuator name="panda_1_finger_joint1_motor">
  2013. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  2014. <mechanicalReduction>1</mechanicalReduction>
  2015. </actuator>
  2016. </transmission>
  2017. <transmission name="trans_panda_1_finger_joint2">
  2018. <type>transmission_interface/SimpleTransmission</type>
  2019. <joint name="panda_1_finger_joint2">
  2020. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  2021. </joint>
  2022. <actuator name="panda_1_finger_joint2_motor">
  2023. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  2024. <mechanicalReduction>1</mechanicalReduction>
  2025. </actuator>
  2026. </transmission>
  2027. <transmission name="trans_robot2_shoulder_pan_joint">
  2028. <type>transmission_interface/SimpleTransmission</type>
  2029. <joint name="robot2_shoulder_pan_joint">
  2030. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  2031. </joint>
  2032. <actuator name="robot2_shoulder_pan_joint_motor">
  2033. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  2034. <mechanicalReduction>1</mechanicalReduction>
  2035. </actuator>
  2036. </transmission>
  2037. <transmission name="trans_robot2_shoulder_lift_joint">
  2038. <type>transmission_interface/SimpleTransmission</type>
  2039. <joint name="robot2_shoulder_lift_joint">
  2040. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  2041. </joint>
  2042. <actuator name="robot2_shoulder_lift_joint_motor">
  2043. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  2044. <mechanicalReduction>1</mechanicalReduction>
  2045. </actuator>
  2046. </transmission>
  2047. <transmission name="trans_robot2_elbow_joint">
  2048. <type>transmission_interface/SimpleTransmission</type>
  2049. <joint name="robot2_elbow_joint">
  2050. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  2051. </joint>
  2052. <actuator name="robot2_elbow_joint_motor">
  2053. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  2054. <mechanicalReduction>1</mechanicalReduction>
  2055. </actuator>
  2056. </transmission>
  2057. <transmission name="trans_robot2_wrist_1_joint">
  2058. <type>transmission_interface/SimpleTransmission</type>
  2059. <joint name="robot2_wrist_1_joint">
  2060. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  2061. </joint>
  2062. <actuator name="robot2_wrist_1_joint_motor">
  2063. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  2064. <mechanicalReduction>1</mechanicalReduction>
  2065. </actuator>
  2066. </transmission>
  2067. <transmission name="trans_robot2_wrist_2_joint">
  2068. <type>transmission_interface/SimpleTransmission</type>
  2069. <joint name="robot2_wrist_2_joint">
  2070. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  2071. </joint>
  2072. <actuator name="robot2_wrist_2_joint_motor">
  2073. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  2074. <mechanicalReduction>1</mechanicalReduction>
  2075. </actuator>
  2076. </transmission>
  2077. <transmission name="trans_robot2_wrist_3_joint">
  2078. <type>transmission_interface/SimpleTransmission</type>
  2079. <joint name="robot2_wrist_3_joint">
  2080. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  2081. </joint>
  2082. <actuator name="robot2_wrist_3_joint_motor">
  2083. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  2084. <mechanicalReduction>1</mechanicalReduction>
  2085. </actuator>
  2086. </transmission>
  2087. <transmission name="trans_left2_gripper_joint">
  2088. <type>transmission_interface/SimpleTransmission</type>
  2089. <joint name="left2_gripper_joint">
  2090. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  2091. </joint>
  2092. <actuator name="left2_gripper_joint_motor">
  2093. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  2094. <mechanicalReduction>1</mechanicalReduction>
  2095. </actuator>
  2096. </transmission>
  2097. <transmission name="trans_right2_gripper_joint">
  2098. <type>transmission_interface/SimpleTransmission</type>
  2099. <joint name="right2_gripper_joint">
  2100. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  2101. </joint>
  2102. <actuator name="right2_gripper_joint_motor">
  2103. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  2104. <mechanicalReduction>1</mechanicalReduction>
  2105. </actuator>
  2106. </transmission>
  2107. <transmission name="trans_robot3_shoulder_pan_joint">
  2108. <type>transmission_interface/SimpleTransmission</type>
  2109. <joint name="robot3_shoulder_pan_joint">
  2110. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  2111. </joint>
  2112. <actuator name="robot3_shoulder_pan_joint_motor">
  2113. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  2114. <mechanicalReduction>1</mechanicalReduction>
  2115. </actuator>
  2116. </transmission>
  2117. <transmission name="trans_robot3_shoulder_lift_joint">
  2118. <type>transmission_interface/SimpleTransmission</type>
  2119. <joint name="robot3_shoulder_lift_joint">
  2120. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  2121. </joint>
  2122. <actuator name="robot3_shoulder_lift_joint_motor">
  2123. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  2124. <mechanicalReduction>1</mechanicalReduction>
  2125. </actuator>
  2126. </transmission>
  2127. <transmission name="trans_robot3_elbow_joint">
  2128. <type>transmission_interface/SimpleTransmission</type>
  2129. <joint name="robot3_elbow_joint">
  2130. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  2131. </joint>
  2132. <actuator name="robot3_elbow_joint_motor">
  2133. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  2134. <mechanicalReduction>1</mechanicalReduction>
  2135. </actuator>
  2136. </transmission>
  2137. <transmission name="trans_robot3_wrist_1_joint">
  2138. <type>transmission_interface/SimpleTransmission</type>
  2139. <joint name="robot3_wrist_1_joint">
  2140. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  2141. </joint>
  2142. <actuator name="robot3_wrist_1_joint_motor">
  2143. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  2144. <mechanicalReduction>1</mechanicalReduction>
  2145. </actuator>
  2146. </transmission>
  2147. <transmission name="trans_robot3_wrist_2_joint">
  2148. <type>transmission_interface/SimpleTransmission</type>
  2149. <joint name="robot3_wrist_2_joint">
  2150. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  2151. </joint>
  2152. <actuator name="robot3_wrist_2_joint_motor">
  2153. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  2154. <mechanicalReduction>1</mechanicalReduction>
  2155. </actuator>
  2156. </transmission>
  2157. <transmission name="trans_robot3_wrist_3_joint">
  2158. <type>transmission_interface/SimpleTransmission</type>
  2159. <joint name="robot3_wrist_3_joint">
  2160. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  2161. </joint>
  2162. <actuator name="robot3_wrist_3_joint_motor">
  2163. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  2164. <mechanicalReduction>1</mechanicalReduction>
  2165. </actuator>
  2166. </transmission>
  2167. <transmission name="trans_left3_gripper_joint">
  2168. <type>transmission_interface/SimpleTransmission</type>
  2169. <joint name="left3_gripper_joint">
  2170. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  2171. </joint>
  2172. <actuator name="left3_gripper_joint_motor">
  2173. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  2174. <mechanicalReduction>1</mechanicalReduction>
  2175. </actuator>
  2176. </transmission>
  2177. <transmission name="trans_right_gripper_joint">
  2178. <type>transmission_interface/SimpleTransmission</type>
  2179. <joint name="right_gripper_joint">
  2180. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  2181. </joint>
  2182. <actuator name="right_gripper_joint_motor">
  2183. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  2184. <mechanicalReduction>1</mechanicalReduction>
  2185. </actuator>
  2186. </transmission>
  2187. <gazebo>
  2188. <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
  2189. <robotNamespace>/</robotNamespace>
  2190. </plugin>
  2191. </gazebo>
  2192.  
  2193. <transmission name="robot2_shoulder_pan_trans">
  2194. <type>transmission_interface/SimpleTransmission</type>
  2195. <joint name="robot2_shoulder_pan_joint">
  2196. <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
  2197. </joint>
  2198. <actuator name="robot2_shoulder_pan_motor">
  2199. <mechanicalReduction>1</mechanicalReduction>
  2200. </actuator>
  2201. </transmission>
  2202. <transmission name="robot2_shoulder_lift_trans">
  2203. <type>transmission_interface/SimpleTransmission</type>
  2204. <joint name="robot2_shoulder_lift_joint">
  2205. <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
  2206. </joint>
  2207. <actuator name="robot2_shoulder_lift_motor">
  2208. <mechanicalReduction>1</mechanicalReduction>
  2209. </actuator>
  2210. </transmission>
  2211. <transmission name="robot2_elbow_trans">
  2212. <type>transmission_interface/SimpleTransmission</type>
  2213. <joint name="robot2_elbow_joint">
  2214. <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
  2215. </joint>
  2216. <actuator name="robot2_elbow_motor">
  2217. <mechanicalReduction>1</mechanicalReduction>
  2218. </actuator>
  2219. </transmission>
  2220. <transmission name="robot2_wrist_1_trans">
  2221. <type>transmission_interface/SimpleTransmission</type>
  2222. <joint name="robot2_wrist_1_joint">
  2223. <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
  2224. </joint>
  2225. <actuator name="robot2_wrist_1_motor">
  2226. <mechanicalReduction>1</mechanicalReduction>
  2227. </actuator>
  2228. </transmission>
  2229. <transmission name="robot2_wrist_2_trans">
  2230. <type>transmission_interface/SimpleTransmission</type>
  2231. <joint name="robot2_wrist_2_joint">
  2232. <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
  2233. </joint>
  2234. <actuator name="robot2_wrist_2_motor">
  2235. <mechanicalReduction>1</mechanicalReduction>
  2236. </actuator>
  2237. </transmission>
  2238. <transmission name="robot2_wrist_3_trans">
  2239. <type>transmission_interface/SimpleTransmission</type>
  2240. <joint name="robot2_wrist_3_joint">
  2241. <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
  2242. </joint>
  2243. <actuator name="robot2_wrist_3_motor">
  2244. <mechanicalReduction>1</mechanicalReduction>
  2245. </actuator>
  2246. </transmission>
  2247.  
  2248. </robot>
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