316 lines
12 KiB
XML
316 lines
12 KiB
XML
<?xml version="1.0" ?>
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<!-- =================================================================================== -->
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<!-- | This document was autogenerated by xacro from rm_65.urdf.xacro | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
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<robot name="rm_65">
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<link name="dummy">
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</link>
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<!-- /////////////////////////////////////// bottom_joint ////////////////////////////////////////// -->
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<joint name="bottom_joint" type="fixed">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<parent link="base_link"/>
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<child link="bottom_link"/>
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</joint>
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<link name="bottom_link">
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<visual>
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<origin rpy="0 0 0" xyz=" 0 0 -0.02"/>
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<geometry>
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<box size="0.06 0.06 0.02"/>
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</geometry>
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<material name="Brown"/>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz=" 0 0 0"/>
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<geometry>
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<box size="0.06 0.06 0.02"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="500"/>
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<inertia ixx="41.68333333333333" ixy="0" ixz="0" iyy="83.33333333333333" iyz="0" izz="41.68333333333333"/>
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</inertial>
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</link>
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<link name="base_link">
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<inertial>
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<origin rpy="0 0 0" xyz="-0.000433277303987328 -3.54664423471128E-05 0.0599427668933796"/>
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<mass value="0.841070778135659"/>
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<inertia ixx="0.0017261110801622" ixy="2.52746264980217E-06" ixz="-3.67690303614961E-05" iyy="0.00170987405835604" iyz="1.67996364994424E-06" izz="0.000904023422915791"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/base_link.STL"/>
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</geometry>
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<material name="">
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<color rgba="1 1 1 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/base_link.STL"/>
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</geometry>
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</collision>
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</link>
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<gazebo reference="base_link">
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<mu1 value="200000.0"/>
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<mu2 value="200000.0"/>
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<kp value="100000000.0"/>
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<kd value="1.0"/>
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</gazebo>
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<joint name="dummy_joint" type="fixed">
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<parent link="dummy"/>
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<child link="base_link"/>
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</joint>
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<link name="Link1">
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<inertial>
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<origin rpy="0 0 0" xyz="1.2226305431569E-08 0.0211079974844683 -0.0251854220842269"/>
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<mass value="0.593563443690403"/>
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<inertia ixx="0.00126614120341847" ixy="-1.294980943835E-08" ixz="-9.80120923066996E-09" iyy="0.00118168178300364" iyz="-0.00021121727444415" izz="0.00056135241627747"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link1.STL"/>
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</geometry>
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<material name="">
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<color rgba="1 1 1 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link1.STL"/>
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</geometry>
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</collision>
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</link>
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<joint name="joint1" type="revolute">
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<origin rpy="0 0 0" xyz="0 0 0.2405"/>
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<parent link="base_link"/>
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<child link="Link1"/>
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<axis xyz="0 0 1"/>
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<limit effort="60" lower="-3.1" upper="3.1" velocity="3.14"/>
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<dynamics damping="50" friction="1"/>
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</joint>
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<link name="Link2">
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<inertial>
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<origin rpy="0 0 0" xyz="0.152256463426163 4.75383656106654E-07 -0.00620260383607792"/>
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<mass value="0.864175046869043"/>
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<inertia ixx="0.00089150298478414" ixy="-2.23268489334765E-08" ixz="0.00156246461035015" iyy="0.00733754343083901" iyz="6.28110889329165E-09" izz="0.00697869103915473"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link2.STL"/>
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</geometry>
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<material name="">
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<color rgba="1 1 1 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link2.STL"/>
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</geometry>
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</collision>
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</link>
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<joint name="joint2" type="revolute">
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<origin rpy="1.5708 -1.5708 0" xyz="0 0 0"/>
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<parent link="Link1"/>
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<child link="Link2"/>
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<axis xyz="0 0 1"/>
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<limit effort="60" lower="-2.268" upper="2.268" velocity="3.14"/>
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<dynamics damping="50" friction="1"/>
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</joint>
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<link name="Link3">
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<inertial>
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<origin rpy="0 0 0" xyz="5.05312670989961E-06 -0.0595925663694732 0.010569069212336"/>
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<mass value="0.289633681624654"/>
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<inertia ixx="0.00063737100450158" ixy="-7.05261293649751E-08" ixz="-3.86643272239426E-08" iyy="0.00015648388095025" iyz="-0.00014461035994916" izz="0.000614178164773085"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link3.STL"/>
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</geometry>
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<material name="">
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<color rgba="1 1 1 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link3.STL"/>
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</geometry>
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</collision>
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</link>
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<joint name="joint3" type="revolute">
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<origin rpy="0 0 1.5708" xyz="0.256 0 0"/>
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<parent link="Link2"/>
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<child link="Link3"/>
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<axis xyz="0 0 1"/>
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<limit effort="30" lower="-2.355" upper="2.355" velocity="3.92"/>
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<dynamics damping="50" friction="1"/>
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</joint>
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<link name="Link4">
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<inertial>
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<origin rpy="0 0 0" xyz="1.15516617405898E-06 -0.0180424468598241 -0.0215394748352687"/>
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<mass value="0.239419768320061"/>
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<inertia ixx="0.000285938919722783" ixy="3.07101359163101E-09" ixz="-2.21994118981953E-09" iyy="0.000262727540304212" iyz="4.4236583260078E-05" izz="0.000119888082791859"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link4.STL"/>
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</geometry>
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<material name="">
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<color rgba="1 1 1 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link4.STL"/>
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</geometry>
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</collision>
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</link>
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<joint name="joint4" type="revolute">
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<origin rpy="1.5708 0 0" xyz="0 -0.21 0"/>
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<parent link="Link3"/>
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<child link="Link4"/>
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<axis xyz="0 0 1"/>
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<limit effort="10" lower="-3.1" upper="3.1" velocity="3.92"/>
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<dynamics damping="50" friction="1"/>
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</joint>
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<link name="Link5">
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<inertial>
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<origin rpy="0 0 0" xyz="3.19794786262152E-06 -0.0593808368101458 0.00736804250989326"/>
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<mass value="0.218799761431678"/>
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<inertia ixx="0.000350540363914072" ixy="-3.41781619975602E-08" ixz="-1.77056457224373E-08" iyy="0.000104927867487581" iyz="-7.82431228461971E-05" izz="0.000334482418423629"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link5.STL"/>
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</geometry>
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<material name="">
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<color rgba="1 1 1 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link5.STL"/>
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</geometry>
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</collision>
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</link>
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<joint name="joint5" type="revolute">
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<origin rpy="-1.5708 0 0" xyz="0 0 0"/>
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<parent link="Link4"/>
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<child link="Link5"/>
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<axis xyz="0 0 1"/>
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<limit effort="10" lower="-2.233" upper="2.233" velocity="3.92"/>
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<dynamics damping="50" friction="1"/>
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</joint>
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<link name="Link6">
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<inertial>
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<origin rpy="0 0 0" xyz="0.000714234511756999 -0.000396718732824521 -0.0126723660946126"/>
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<mass value="0.0649018034311231"/>
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<inertia ixx="2.02766547502765E-05" ixy="-1.32505200276849E-06" ixz="-2.5845091522508E-08" iyy="1.87986725225022E-05" iyz="3.39471452125439E-09" izz="3.17885459163081E-05"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link6.STL"/>
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</geometry>
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<material name="">
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<color rgba="1 1 1 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link6.STL"/>
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</geometry>
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</collision>
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</link>
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<joint name="joint6" type="revolute">
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<origin rpy="1.5708 0 0" xyz="0 -0.144 0"/>
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<parent link="Link5"/>
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<child link="Link6"/>
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<axis xyz="0 0 1"/>
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<limit effort="10" lower="-6.28" upper="6.28" velocity="3.92"/>
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<dynamics damping="50" friction="1"/>
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</joint>
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<transmission name="tran1">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="joint1">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="motor1">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="tran1">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="joint2">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="motor1">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="tran1">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="joint3">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="motor1">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="tran1">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="joint4">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="motor1">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="tran1">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="joint5">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="motor1">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="tran1">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="joint6">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="motor1">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<!-- ros_control plugin -->
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<gazebo>
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<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
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<robotNamespace>/arm</robotNamespace>
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<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
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<legacyModeNS>true</legacyModeNS>
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</plugin>
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</gazebo>
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</robot>
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