mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 13:50:04 +00:00
347 lines
12 KiB
XML
347 lines
12 KiB
XML
<?xml version="1.0"?>
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<robot name="kuka_lwr">
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<property name="M_PI" value="3.1415926535897931" />
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<property name="name" value="kuka" />
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<!--
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Little helper macro to define the inertia matrix needed
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for links.
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-->
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<!-- width is along x axis
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length is along y axis
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height is along z axis
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-->
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<macro name="cuboid_inertia_def" params="width height length mass">
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<inertia ixx="${mass * (height * height + length * length) / 12}"
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iyy="${mass * (width * width + height * height) / 12}"
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izz="${mass * (width * width + length * length) / 12}"
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ixy="0" iyz="0" ixz="0"/>
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</macro>
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<!-- length is along the y-axis! -->
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<macro name="cylinder_inertia_def" params="radius length mass">
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<inertia ixx="${mass * (3 * radius * radius + length * length) / 12}"
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iyy="${mass * radius* radius / 2}"
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izz="${mass * (3 * radius * radius + length * length) / 12}"
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ixy="0" iyz="0" ixz="0"/>
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</macro>
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<property name="arm_elem_link_mass" value="2.0"/>
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<property name="arm_elem_ball_link_mass" value="2.0"/>
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<property name="arm_elem_end_link_mass" value="2.0"/>
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<property name="safety_controller_k_pos" value="100" />
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<property name="safety_controller_k_vel" value="2" />
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<property name="joint_damping" value="0.1" />
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<property name="arm_velocity_scale_factor" value="1"/>
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<property name="right" value="0" />
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<!-- right is either 1 (for right arm) or -1 (for left arm) -->
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<link name="calib_${name}_arm_base_link">
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<inertial>
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<mass value="0"/> <!-- static base, disable dynamics for this link -->
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<origin xyz="0 0 0.055" rpy="0 0 0"/>
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<cylinder_inertia_def radius="0.06" length="0.11"
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mass="2"/>
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="meshes_arm/arm_base.stl"/>
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</geometry>
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<material name="Orange"/>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="meshes_arm/convex/arm_base_convex.stl"/>
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</geometry>
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</collision>
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</link>
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<joint name="${name}_arm_0_joint" type="revolute">
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<origin xyz="0 0 0.11" rpy="0 0 0"/>
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<axis xyz="0 0 1"/>
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<limit lower="${-170 * M_PI / 180}" upper="${170 * M_PI / 180}"
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effort="204" velocity="${arm_velocity_scale_factor * 110 * M_PI / 180}" />
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<dynamics damping="${joint_damping}"/>
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<parent link="calib_${name}_arm_base_link"/>
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<child link="${name}_arm_1_link"/>
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</joint>
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<link name="${name}_arm_1_link">
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<inertial>
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<mass value="${arm_elem_link_mass}"/>
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<origin rpy="0 0 0" xyz="0 0.04 0.130"/>
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<cuboid_inertia_def length="0.12" width="0.06" height="0.260"
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mass="${arm_elem_link_mass}"/>
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 ${M_PI}"/>
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<geometry>
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<mesh filename="meshes_arm/arm_segment_a.stl"/>
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</geometry>
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<material name="Orange"/>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 ${M_PI}"/>
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<geometry>
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<mesh filename="meshes_arm/convex/arm_segment_a_convex.stl"/>
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</geometry>
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</collision>
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</link>
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<transmission name="${name}_arm_0_trans" type="pr2_mechanism_model/SimpleTransmission">
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<actuator name="${name}_arm_0_motor"/>
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<joint name="${name}_arm_0_joint"/>
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<mechanicalReduction>1.0</mechanicalReduction>
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</transmission>
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<joint name="${name}_arm_1_joint" type="revolute">
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<origin xyz="0 0 0.20" rpy="0 0 0"/>
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<axis xyz="0 -1 0"/>
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<!--limit lower="${-120 * M_PI / 180}" upper="${120 * M_PI / 180}"
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effort="306" velocity="${arm_velocity_scale_factor * 110 * M_PI / 180}" /-->
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<!-- nalt: Reduced limits to avoid contact with table - kinda hacky, should not be done here -->
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<limit lower="${-90 * M_PI / 180}" upper="${90 * M_PI / 180}"
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effort="306" velocity="${arm_velocity_scale_factor * 110 * M_PI / 180}" />
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<dynamics damping="${joint_damping}"/>
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<parent link="${name}_arm_1_link"/>
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<child link="${name}_arm_2_link"/>
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</joint>
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<link name="${name}_arm_2_link">
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<inertial>
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<mass value="${arm_elem_link_mass}"/>
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<origin rpy="0 0 0" xyz="0 -0.04 ${0.130 - 0.06}"/>
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<cuboid_inertia_def length="0.12" width="0.06" height="0.260"
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mass="${arm_elem_link_mass}"/>
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</inertial>
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<visual>
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<origin xyz="0 0 0.2" rpy="${M_PI} 0 ${M_PI}"/>
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<geometry>
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<mesh filename="meshes_arm/arm_segment_b.stl"/>
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</geometry>
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<material name="Orange"/>
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</visual>
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<collision>
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<origin xyz="0 0 0.2" rpy="${M_PI} 0 ${M_PI}"/>
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<geometry>
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<mesh filename="meshes_arm/convex/arm_segment_b_convex.stl"/>
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</geometry>
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</collision>
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</link>
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<transmission name="${name}_arm_1_trans" type="pr2_mechanism_model/SimpleTransmission">
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<actuator name="${name}_arm_1_motor"/>
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<joint name="${name}_arm_1_joint"/>
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<mechanicalReduction>1.0</mechanicalReduction>
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</transmission>
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<joint name="${name}_arm_2_joint" type="revolute">
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<origin xyz="0 0 0.20" rpy="0 0 0"/>
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<axis xyz="0 0 1"/>
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<limit lower="${-170 * M_PI / 180}" upper="${170 * M_PI / 180}"
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effort="204" velocity="${arm_velocity_scale_factor * 130 * M_PI / 180}" />
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<dynamics damping="${joint_damping}"/>
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<parent link="${name}_arm_2_link"/>
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<child link="${name}_arm_3_link"/>
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</joint>
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<link name="${name}_arm_3_link">
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<inertial>
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<mass value="${arm_elem_link_mass}"/>
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<origin rpy="0 0 0" xyz="0 -0.04 0.130"/>
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<cuboid_inertia_def length="0.12" width="0.06" height="0.260"
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mass="${arm_elem_link_mass}"/>
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="meshes_arm/arm_segment_a.stl"/>
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</geometry>
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<material name="Orange"/>
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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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<mesh filename="meshes_arm/convex/arm_segment_a_convex.stl"/>
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</geometry>
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</collision>
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</link>
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<transmission name="${name}_arm_2_trans" type="pr2_mechanism_model/SimpleTransmission">
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<actuator name="${name}_arm_2_motor"/>
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<joint name="${name}_arm_2_joint"/>
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<mechanicalReduction>1.0</mechanicalReduction>
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</transmission>
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<joint name="${name}_arm_3_joint" type="revolute">
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<origin xyz="0 0 0.20" rpy="0 0 0"/>
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<axis xyz="0 1 0"/>
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<limit lower="${-120 * M_PI / 180}" upper="${120 * M_PI / 180}"
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effort="306" velocity="${arm_velocity_scale_factor * 130 * M_PI / 180}" />
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<dynamics damping="${joint_damping}"/>
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<parent link="${name}_arm_3_link"/>
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<child link="${name}_arm_4_link"/>
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</joint>
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<link name="${name}_arm_4_link">
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<inertial>
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<mass value="${arm_elem_link_mass}"/>
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<origin rpy="0 0 0" xyz="0 0.04 ${0.130 - 0.06}"/>
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<cuboid_inertia_def length="0.12" width="0.06" height="0.2600"
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mass="${arm_elem_link_mass}"/>
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</inertial>
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<visual>
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<origin xyz="0 0 0.2" rpy="0 ${M_PI} ${M_PI}"/>
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<geometry>
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<mesh filename="meshes_arm/arm_segment_b.stl"/>
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</geometry>
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<material name="Orange"/>
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</visual>
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<collision>
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<origin xyz="0 0 0.2" rpy="0 ${M_PI} ${M_PI}"/>
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<geometry>
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<mesh filename="meshes_arm/convex/arm_segment_b_convex.stl"/>
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</geometry>
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</collision>
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</link>
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<transmission name="${name}_arm_3_trans" type="pr2_mechanism_model/SimpleTransmission">
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<actuator name="${name}_arm_3_motor"/>
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<joint name="${name}_arm_3_joint"/>
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<mechanicalReduction>1.0</mechanicalReduction>
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</transmission>
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<joint name="${name}_arm_4_joint" type="revolute">
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<origin xyz="0 0 0.20" rpy="0 0 0"/>
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<axis xyz="0 0 1"/>
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<limit lower="${-170 * M_PI / 180}" upper="${170 * M_PI / 180}"
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effort="204" velocity="${arm_velocity_scale_factor * 130 * M_PI / 180}" />
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<dynamics damping="${joint_damping}"/>
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<parent link="${name}_arm_4_link"/>
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<child link="${name}_arm_5_link"/>
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</joint>
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<link name="${name}_arm_5_link">
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<inertial>
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<mass value="${arm_elem_link_mass}"/>
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<origin rpy="0 0 0" xyz="0 0.02 0.124"/>
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<cuboid_inertia_def length="0.12" width="0.06" height="0.248"
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mass="${arm_elem_link_mass}"/>
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 ${M_PI}"/>
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<geometry name="${name}_arm_5_geom">
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<mesh filename="meshes_arm/arm_segment_last.stl"/>
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</geometry>
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<material name="Orange"/>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 ${M_PI}"/>
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<geometry>
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<mesh filename="meshes_arm/convex/arm_segment_last_convex.stl"/>
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</geometry>
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</collision>
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</link>
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<transmission name="${name}_arm_4_trans" type="pr2_mechanism_model/SimpleTransmission">
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<actuator name="${name}_arm_4_motor"/>
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<joint name="${name}_arm_4_joint"/>
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<mechanicalReduction>1.0</mechanicalReduction>
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</transmission>
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<joint name="${name}_arm_5_joint" type="revolute">
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<origin xyz="0 0 0.19" rpy="0 0 0"/>
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<axis xyz="0 -1 0"/>
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<limit lower="${-120 * M_PI / 180}" upper="${120 * M_PI / 180}"
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effort="306" velocity="${arm_velocity_scale_factor * 180 * M_PI / 180}" />
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<dynamics damping="${joint_damping}"/>
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<parent link="${name}_arm_5_link"/>
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<child link="${name}_arm_6_link"/>
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</joint>
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<link name="${name}_arm_6_link">
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<inertial>
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<mass value="${arm_elem_ball_link_mass}"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<cuboid_inertia_def length="0.125" width="0.125" height="0.125"
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mass="${arm_elem_ball_link_mass}"/>
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 ${M_PI}"/>
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<geometry>
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<mesh filename="meshes_arm/arm_wrist.stl"/>
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</geometry>
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<material name="Grey"/>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 ${M_PI}"/>
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<geometry>
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<mesh filename="meshes_arm/convex/arm_wrist_convex.stl"/>
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</geometry>
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</collision>
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</link>
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<transmission name="${name}_arm_5_trans" type="pr2_mechanism_model/SimpleTransmission">
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<actuator name="${name}_arm_5_motor"/>
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<joint name="${name}_arm_5_joint"/>
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<mechanicalReduction>1.0</mechanicalReduction>
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</transmission>
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<joint name="${name}_arm_6_joint" type="revolute">
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<origin xyz="0 0 0.078" rpy="0 0 0"/>
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<axis xyz="0 0 1"/>
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<limit lower="${-170 * M_PI / 180}" upper="${170 * M_PI / 180}"
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effort="204" velocity="${arm_velocity_scale_factor * 180 * M_PI / 180}" />
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<dynamics damping="${joint_damping}"/>
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<parent link="${name}_arm_6_link"/>
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<child link="${name}_arm_7_link"/>
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</joint>
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<link name="${name}_arm_7_link">
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<inertial>
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<mass value="${arm_elem_end_link_mass}"/>
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<origin xyz="0 0 0"/>
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<cuboid_inertia_def length="0.05" width="0.05" height="0.05"
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mass="${arm_elem_end_link_mass}"/>
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 ${right * -1/4 * M_PI + M_PI}"/>
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<geometry>
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<mesh filename="meshes_arm/arm_flanche.stl"/>
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</geometry>
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<material name="Grey"/>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 ${right * -1/4 * M_PI + M_PI}"/>
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<geometry>
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<mesh filename="meshes_arm/convex/arm_flanche_convex.stl"/>
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</geometry>
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</collision>
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</link>
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<transmission name="${name}_arm_6_trans" type="pr2_mechanism_model/SimpleTransmission">
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<actuator name="${name}_arm_6_motor"/>
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<joint name="${name}_arm_6_joint"/>
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<mechanicalReduction>1.0</mechanicalReduction>
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</transmission>
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</robot>
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