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bullet3/data/kuka_iiwa/model.urdf
Erwin Coumans 3157093125 Implemented specular reflective lighting for OpenGL 3.x, everything looks shiny (will add APIs to make it less shiny ;-) 
Remove roof from kitchens/1.sdf, otherwise shadows and shinyness won't work (light is outside the room, bouncing against roof-top)
Make kuka_iiwa/model.urdf more smooth, use .obj for per-vertex normals (using Blender, import STL, export OBJ, enable triangles, normals and Z-UP, Y forward)
2017-05-31 20:32:45 -07:00

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<?xml version="1.0" ?>
<!-- ======================================================================= -->
<!-- | This document was autogenerated by xacro from lbr_iiwa.urdf.xacro | -->
<!-- | Original xacro: https://github.com/rtkg/lbr_iiwa/archive/master.zip | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- | Changes (kohlhoff): | -->
<!-- | * Removed gazebo tags. | -->
<!-- | * Removed unused materials. | -->
<!-- | * Made mesh paths relative. | -->
<!-- | * Removed material fields from collision segments. | -->
<!-- | * Removed the self_collision_checking segment. | -->
<!-- | * Removed transmission segments, since they didn't match the | -->
<!-- | convention, will have to added back later. | -->
<!-- ======================================================================= -->
<!--LICENSE: -->
<!--Copyright (c) 2015, Robert Krug & Todor Stoyanov, AASS Research Center, -->
<!--Orebro University, Sweden -->
<!--All rights reserved. -->
<!-- -->
<!--Redistribution and use in source and binary forms, with or without -->
<!--modification, are permitted provided that the following conditions are -->
<!--met: -->
<!-- -->
<!--1. Redistributions of source code must retain the above copyright notice,-->
<!-- this list of conditions and the following disclaimer. -->
<!-- -->
<!--2. Redistributions in binary form must reproduce the above copyright -->
<!-- notice, this list of conditions and the following disclaimer in the -->
<!-- documentation and/or other materials provided with the distribution. -->
<!-- -->
<!--THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS -->
<!--IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,-->
<!--THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -->
<!--PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR -->
<!--CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, -->
<!--EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, -->
<!--PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR -->
<!--PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF -->
<!--LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING -->
<!--NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -->
<!--SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -->
<robot name="lbr_iiwa" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Import Rviz colors -->
<material name="Grey">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
<material name="Orange">
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
</material>
<material name="Blue">
<color rgba="0.5 0.7 1.0 1.0"/>
</material>
<!--Import the lbr iiwa macro -->
<!--Import Transmissions -->
<!--Include Utilities -->
<!--The following macros are adapted from the LWR 4 definitions of the RCPRG - https://github.com/RCPRG-ros-pkg/lwr_robot -->
<!--Little helper macros to define the inertia matrix needed for links.-->
<!--Cuboid-->
<!--Cylinder: length is along the y-axis! -->
<!--lbr-->
<link name="lbr_iiwa_link_0">
<inertial>
<origin rpy="0 0 0" xyz="-0.1 0 0.07"/>
<!--Increase mass from 5 Kg original to provide a stable base to carry the
arm.-->
<mass value="0.0"/>
<inertia ixx="0.05" ixy="0" ixz="0" iyy="0.06" iyz="0" izz="0.03"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_0.obj"/>
</geometry>
<material name="Grey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_0.stl"/>
</geometry>
</collision>
</link>
<!-- joint between link_0 and link_1 -->
<joint name="lbr_iiwa_joint_1" type="revolute">
<parent link="lbr_iiwa_link_0"/>
<child link="lbr_iiwa_link_1"/>
<origin rpy="0 0 0" xyz="0 0 0.1575"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
<dynamics damping="0.5"/>
</joint>
<link name="lbr_iiwa_link_1">
<inertial>
<origin rpy="0 0 0" xyz="0 -0.03 0.12"/>
<mass value="4"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.09" iyz="0" izz="0.02"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_1.obj"/>
</geometry>
<material name="Blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_1.stl"/>
</geometry>
</collision>
</link>
<!-- joint between link_1 and link_2 -->
<joint name="lbr_iiwa_joint_2" type="revolute">
<parent link="lbr_iiwa_link_1"/>
<child link="lbr_iiwa_link_2"/>
<origin rpy="1.57079632679 0 3.14159265359" xyz="0 0 0.2025"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
<dynamics damping="0.5"/>
</joint>
<link name="lbr_iiwa_link_2">
<inertial>
<origin rpy="0 0 0" xyz="0.0003 0.059 0.042"/>
<mass value="4"/>
<inertia ixx="0.05" ixy="0" ixz="0" iyy="0.018" iyz="0" izz="0.044"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_2.obj"/>
</geometry>
<material name="Blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_2.stl"/>
</geometry>
</collision>
</link>
<!-- joint between link_2 and link_3 -->
<joint name="lbr_iiwa_joint_3" type="revolute">
<parent link="lbr_iiwa_link_2"/>
<child link="lbr_iiwa_link_3"/>
<origin rpy="1.57079632679 0 3.14159265359" xyz="0 0.2045 0"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
<dynamics damping="0.5"/>
</joint>
<link name="lbr_iiwa_link_3">
<inertial>
<origin rpy="0 0 0" xyz="0 0.03 0.13"/>
<mass value="3"/>
<inertia ixx="0.08" ixy="0" ixz="0" iyy="0.075" iyz="0" izz="0.01"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_3.obj"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_3.stl"/>
</geometry>
</collision>
</link>
<!-- joint between link_3 and link_4 -->
<joint name="lbr_iiwa_joint_4" type="revolute">
<parent link="lbr_iiwa_link_3"/>
<child link="lbr_iiwa_link_4"/>
<origin rpy="1.57079632679 0 0" xyz="0 0 0.2155"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
<dynamics damping="0.5"/>
</joint>
<link name="lbr_iiwa_link_4">
<inertial>
<origin rpy="0 0 0" xyz="0 0.067 0.034"/>
<mass value="2.7"/>
<inertia ixx="0.03" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.029"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_4.obj"/>
</geometry>
<material name="Blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_4.stl"/>
</geometry>
</collision>
</link>
<!-- joint between link_4 and link_5 -->
<joint name="lbr_iiwa_joint_5" type="revolute">
<parent link="lbr_iiwa_link_4"/>
<child link="lbr_iiwa_link_5"/>
<origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.1845 0"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
<dynamics damping="0.5"/>
</joint>
<link name="lbr_iiwa_link_5">
<inertial>
<origin rpy="0 0 0" xyz="0.0001 0.021 0.076"/>
<mass value="1.7"/>
<inertia ixx="0.02" ixy="0" ixz="0" iyy="0.018" iyz="0" izz="0.005"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_5.obj"/>
</geometry>
<material name="Blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_5.stl"/>
</geometry>
</collision>
</link>
<!-- joint between link_5 and link_6 -->
<joint name="lbr_iiwa_joint_6" type="revolute">
<parent link="lbr_iiwa_link_5"/>
<child link="lbr_iiwa_link_6"/>
<origin rpy="1.57079632679 0 0" xyz="0 0 0.2155"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
<dynamics damping="0.5"/>
</joint>
<link name="lbr_iiwa_link_6">
<inertial>
<origin rpy="0 0 0" xyz="0 0.0006 0.0004"/>
<mass value="1.8"/>
<inertia ixx="0.005" ixy="0" ixz="0" iyy="0.0036" iyz="0" izz="0.0047"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_6.obj"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_6.stl"/>
</geometry>
</collision>
</link>
<!-- joint between link_6 and link_7 -->
<joint name="lbr_iiwa_joint_7" type="revolute">
<parent link="lbr_iiwa_link_6"/>
<child link="lbr_iiwa_link_7"/>
<origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.081 0"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-3.05432619099" upper="3.05432619099" velocity="10"/>
<dynamics damping="0.5"/>
</joint>
<link name="lbr_iiwa_link_7">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.02"/>
<mass value="0.3"/>
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_7.obj"/>
</geometry>
<material name="Grey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_7.stl"/>
</geometry>
</collision>
</link>
</robot>
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