mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-15 14:10:11 +00:00
81 lines
2.0 KiB
Plaintext
81 lines
2.0 KiB
Plaintext
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<?xml version="1.0"?>
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<robot name="LWR">
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<include filename="$(find lmtlwr)/model/kuka_lwr_arm.urdf.xacro"/>
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<include filename="$(find lmtlwr)/model/gazebo.urdf.xacro"/>
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<include filename="$(find lmtlwr)/model/materials.xml"/>
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-
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<kuka_lwr_arm parent="base_link" name="lwr" right="1" tool_name="">
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<origin xyz="0 0 0" rpy="0 0 0"/>
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</kuka_lwr_arm>
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<link name="base_link" />
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<link name="table">
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<visual>
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<origin xyz="0 0 -0.02"/>
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<geometry>
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<box size="2 2 0.04"/>
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</geometry>
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<material name="wood">
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<texture filename="package://lmtlwr/model/wood.jpg"/>
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<color rgba="0.65 0.5 0.4 0.8"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<box size="2 2 0.03"/>
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</geometry>
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</collision>
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</link>
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- <link name="aluplate">
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<visual>
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<origin xyz="0 0 -0.0075" />
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<geometry>
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<box size="0.275 0.275 0.015" xyz="0.2 0.2 0.0"/>
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</geometry>
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<material name="Silver" />
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</visual>
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</link>
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<link name="lwr_tool">
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<visual>
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<origin xyz="0 0 0" />
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<geometry>
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<mesh filename="package://lmtlwr/model/tools/jr3-stabilo.dae" scale="0.0254 0.0254 0.0254"/>
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</geometry>
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</visual>
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</link>
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<link name="lwr_tool_tcp" />
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<joint name="arm7_to_tcp" type="fixed">
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<parent link="lwr_arm_7_link" />
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<child link="lwr_tool_tcp"/>
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<origin xyz="-0.028 0.010 0.203" />
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</joint>
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<joint name="arm7_to_tool" type="fixed">
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<parent link="lwr_arm_7_link" />
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<child link="lwr_tool"/>
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<origin xyz="0 0 0" />
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</joint>
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<joint name="table_to_base" type="fixed">
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<parent link="table" />
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<child link="aluplate"/>
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<origin xyz="0 0 0.015" />
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</joint>
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<joint name="aluplate_to_base" type="fixed">
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<parent link="aluplate" />
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<child link="base_link"/>
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<origin xyz="0 0 0" rpy="0 0 45" />
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</joint>
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</robot>
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