mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-13 21:30:09 +00:00
414 lines
12 KiB
Plaintext
414 lines
12 KiB
Plaintext
<sdf version='1.6'>
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<world name='default'>
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<model name='lbr_iiwa'>
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<joint name='fix_to_world' type='fixed'>
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<parent>world</parent>
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<child>lbr_iiwa_link_0</child>
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</joint>
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<link name='lbr_iiwa_link_0'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<inertial>
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<pose frame=''>-0.1 0 0.07 0 -0 0</pose>
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<mass>0.01</mass>
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<inertia>
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<ixx>0.05</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.06</iyy>
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<iyz>0</iyz>
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<izz>0.03</izz>
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</inertia>
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</inertial>
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<collision name='lbr_iiwa_link_0_collision'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>meshes/coarse/link_0.stl</uri>
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</mesh>
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</geometry>
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</collision>
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<visual name='lbr_iiwa_link_0_visual'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>meshes/link_0.stl</uri>
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</mesh>
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</geometry>
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</visual>
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</link>
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<link name='lbr_iiwa_link_1'>
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<pose frame=''>0 0 0.1575 0 -0 0</pose>
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<inertial>
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<pose frame=''>0 -0.03 0.12 0 -0 0</pose>
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<mass>4</mass>
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<inertia>
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<ixx>0.1</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.09</iyy>
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<iyz>0</iyz>
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<izz>0.02</izz>
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</inertia>
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</inertial>
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<collision name='lbr_iiwa_link_1_collision'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>meshes/coarse/link_1.stl</uri>
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</mesh>
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</geometry>
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</collision>
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<visual name='lbr_iiwa_link_1_visual'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>meshes/link_1.stl</uri>
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</mesh>
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</geometry>
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</visual>
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</link>
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<joint name='lbr_iiwa_joint_1' type='revolute'>
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<child>lbr_iiwa_link_1</child>
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<parent>lbr_iiwa_link_0</parent>
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<axis>
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<xyz>0 0 1</xyz>
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<limit>
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<lower>-2.96706</lower>
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<upper>2.96706</upper>
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<effort>300</effort>
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<velocity>10</velocity>
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</limit>
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<dynamics>
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<damping>0.5</damping>
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<friction>0</friction>
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<spring_reference>0</spring_reference>
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<spring_stiffness>0</spring_stiffness>
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</dynamics>
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<use_parent_model_frame>0</use_parent_model_frame>
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</axis>
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</joint>
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<link name='lbr_iiwa_link_2'>
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<pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
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<inertial>
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<pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
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<mass>4</mass>
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<inertia>
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<ixx>0.05</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.018</iyy>
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<iyz>0</iyz>
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<izz>0.044</izz>
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</inertia>
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</inertial>
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<collision name='lbr_iiwa_link_2_collision'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>meshes/coarse/link_2.stl</uri>
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</mesh>
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</geometry>
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</collision>
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<visual name='lbr_iiwa_link_2_visual'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>meshes/link_2.stl</uri>
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</mesh>
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</geometry>
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</visual>
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</link>
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<joint name='lbr_iiwa_joint_2' type='revolute'>
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<child>lbr_iiwa_link_2</child>
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<parent>lbr_iiwa_link_1</parent>
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<axis>
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<xyz>0 0 1</xyz>
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<limit>
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<lower>-2.0944</lower>
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<upper>2.0944</upper>
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<effort>300</effort>
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<velocity>10</velocity>
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</limit>
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<dynamics>
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<damping>0.5</damping>
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<friction>0</friction>
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<spring_reference>0</spring_reference>
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<spring_stiffness>0</spring_stiffness>
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</dynamics>
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<use_parent_model_frame>0</use_parent_model_frame>
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</axis>
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</joint>
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<link name='lbr_iiwa_link_3'>
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<pose frame=''>0 -0 0.5645 0 0 0</pose>
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<inertial>
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<pose frame=''>0 0.03 0.13 0 -0 0</pose>
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<mass>3</mass>
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<inertia>
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<ixx>0.08</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.075</iyy>
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<iyz>0</iyz>
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<izz>0.01</izz>
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</inertia>
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</inertial>
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<collision name='lbr_iiwa_link_3_collision'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>meshes/coarse/link_3.stl</uri>
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</mesh>
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</geometry>
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</collision>
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<visual name='lbr_iiwa_link_3_visual'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>meshes/link_3.stl</uri>
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</mesh>
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</geometry>
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</visual>
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</link>
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<joint name='lbr_iiwa_joint_3' type='revolute'>
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<child>lbr_iiwa_link_3</child>
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<parent>lbr_iiwa_link_2</parent>
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<axis>
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<xyz>0 0 1</xyz>
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<limit>
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<lower>-2.96706</lower>
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<upper>2.96706</upper>
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<effort>300</effort>
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<velocity>10</velocity>
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</limit>
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<dynamics>
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<damping>0.5</damping>
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<friction>0</friction>
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<spring_reference>0</spring_reference>
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<spring_stiffness>0</spring_stiffness>
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</dynamics>
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<use_parent_model_frame>0</use_parent_model_frame>
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</axis>
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</joint>
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<link name='lbr_iiwa_link_4'>
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<pose frame=''>0 -0 0.78 1.5708 0 0</pose>
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<inertial>
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<pose frame=''>0 0.067 0.034 0 -0 0</pose>
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<mass>2.7</mass>
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<inertia>
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<ixx>0.03</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.01</iyy>
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<iyz>0</iyz>
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<izz>0.029</izz>
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</inertia>
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</inertial>
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<collision name='lbr_iiwa_link_4_collision'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>meshes/coarse/link_4.stl</uri>
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</mesh>
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</geometry>
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</collision>
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<visual name='lbr_iiwa_link_4_visual'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>meshes/link_4.stl</uri>
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</mesh>
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</geometry>
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</visual>
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</link>
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<joint name='lbr_iiwa_joint_4' type='revolute'>
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<child>lbr_iiwa_link_4</child>
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<parent>lbr_iiwa_link_3</parent>
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<axis>
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<xyz>0 0 1</xyz>
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<limit>
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<lower>-2.0944</lower>
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<upper>2.0944</upper>
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<effort>300</effort>
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<velocity>10</velocity>
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</limit>
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<dynamics>
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<damping>0.5</damping>
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<friction>0</friction>
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<spring_reference>0</spring_reference>
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<spring_stiffness>0</spring_stiffness>
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</dynamics>
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<use_parent_model_frame>0</use_parent_model_frame>
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</axis>
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</joint>
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<link name='lbr_iiwa_link_5'>
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<pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
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<inertial>
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<pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
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<mass>1.7</mass>
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<inertia>
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<ixx>0.02</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.018</iyy>
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<iyz>0</iyz>
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<izz>0.005</izz>
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</inertia>
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</inertial>
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<collision name='lbr_iiwa_link_5_collision'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>meshes/coarse/link_5.stl</uri>
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</mesh>
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</geometry>
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</collision>
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<visual name='lbr_iiwa_link_5_visual'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>meshes/link_5.stl</uri>
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</mesh>
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</geometry>
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</visual>
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</link>
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<joint name='lbr_iiwa_joint_5' type='revolute'>
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<child>lbr_iiwa_link_5</child>
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<parent>lbr_iiwa_link_4</parent>
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<axis>
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<xyz>0 0 1</xyz>
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<limit>
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<lower>-2.96706</lower>
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<upper>2.96706</upper>
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<effort>300</effort>
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<velocity>10</velocity>
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</limit>
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<dynamics>
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<damping>0.5</damping>
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<friction>0</friction>
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<spring_reference>0</spring_reference>
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<spring_stiffness>0</spring_stiffness>
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</dynamics>
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<use_parent_model_frame>0</use_parent_model_frame>
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</axis>
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</joint>
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<link name='lbr_iiwa_link_6'>
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<pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
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<inertial>
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<pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
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<mass>1.8</mass>
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<inertia>
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<ixx>0.005</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.0036</iyy>
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<iyz>0</iyz>
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<izz>0.0047</izz>
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</inertia>
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</inertial>
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<collision name='lbr_iiwa_link_6_collision'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>meshes/coarse/link_6.stl</uri>
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</mesh>
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</geometry>
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</collision>
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<visual name='lbr_iiwa_link_6_visual'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>meshes/link_6.stl</uri>
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</mesh>
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</geometry>
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</visual>
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</link>
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<joint name='lbr_iiwa_joint_6' type='revolute'>
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<child>lbr_iiwa_link_6</child>
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<parent>lbr_iiwa_link_5</parent>
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<axis>
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<xyz>0 0 1</xyz>
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<limit>
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<lower>-2.0944</lower>
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<upper>2.0944</upper>
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<effort>300</effort>
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<velocity>10</velocity>
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</limit>
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<dynamics>
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<damping>0.5</damping>
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<friction>0</friction>
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<spring_reference>0</spring_reference>
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<spring_stiffness>0</spring_stiffness>
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</dynamics>
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<use_parent_model_frame>0</use_parent_model_frame>
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</axis>
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</joint>
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<link name='lbr_iiwa_link_7'>
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<pose frame=''>0 0 1.261 0 0 0</pose>
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<inertial>
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<pose frame=''>0 0 0.02 0 -0 0</pose>
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<mass>0.3</mass>
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<inertia>
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<ixx>0.001</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.001</iyy>
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<iyz>0</iyz>
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<izz>0.001</izz>
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</inertia>
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</inertial>
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<collision name='lbr_iiwa_link_7_collision'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>meshes/coarse/link_7.stl</uri>
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</mesh>
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</geometry>
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</collision>
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<visual name='lbr_iiwa_link_7_visual'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>meshes/link_7.stl</uri>
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</mesh>
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</geometry>
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</visual>
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</link>
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<joint name='lbr_iiwa_joint_7' type='revolute'>
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<child>lbr_iiwa_link_7</child>
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<parent>lbr_iiwa_link_6</parent>
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<axis>
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<xyz>0 0 1</xyz>
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<limit>
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<lower>-3.05433</lower>
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<upper>3.05433</upper>
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<effort>300</effort>
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<velocity>10</velocity>
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</limit>
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<dynamics>
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<damping>0.5</damping>
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<friction>0</friction>
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<spring_reference>0</spring_reference>
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<spring_stiffness>0</spring_stiffness>
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</dynamics>
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<use_parent_model_frame>0</use_parent_model_frame>
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</axis>
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</joint>
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</model>
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</world>
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</sdf> |