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bullet3/data/widowx/widowx.urdf
Erwin Coumans bf800e30d5 Added manually converted widowx.urdf from https://github.com/RobotnikAutomation/widowx_arm 
Added simple pybullet file in Bullet/examples/pybullet/examples/widows.py (preliminary, both URDF and py file needs more work to be useful)
https://github.com/RobotnikAutomation/widowx_arm/blob/master/widowx_arm_description/package.xml
See also http://www.trossenrobotics.com/widowxrobotarm
2017-06-29 17:54:04 -07:00

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<?xml version="1.0" encoding="UTF-8"?>
<robot name="widowx" xmlns:xacro="http://ros.org/wiki/xacro">
<material name="yellow">
<color rgba="0.15 0.15 0.15 1.0"/>
</material>
<material name="white">
<color rgba="0.86 0.85 0.81 1.0"/>
</material>
<material name="black">
<color rgba="0.15 0.15 0.15 1.0"/>
</material>
<material name="grey">
<color rgba="0.34 0.35 0.36 1.0"/>
</material>
<material name="greyish">
<color rgba="0.75 0.75 0.75 1.0"/>
</material>
<link name="arm_base_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/base_link.stl"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/base_link.stl"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="13" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<link name="shoulder_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/shoulder_link.stl" />
</geometry>
<material name="greyish"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/shoulder_link.stl"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value=".1" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<link name="biceps_link">
<visual>
<origin xyz="0.04825 0 0.140" rpy="0 0 0" />
<!--origin xyz="0 0 0" rpy="0 0 0" /-->
<geometry>
<mesh filename="meshes/biceps_link.stl" />
</geometry>
<material name="black"/>
</visual>
<collision>
<origin xyz="0.04825 0 0.140" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/biceps_link.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value=".1" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<link name="forearm_link">
<visual>
<origin xyz="0 0 0.14203" rpy="0 0 0" />
<!--origin xyz="0 0 0" rpy="0 0 0" /-->
<geometry>
<mesh filename="meshes/forearm_link.stl"/>
</geometry>
<material name="greyish"/>
</visual>
<collision>
<origin xyz="0 0 0.14203" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/forearm_link.stl"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value=".1" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<link name="wrist_1_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/wrist_1_link.stl"/>
</geometry>
<material name="greyish"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/wrist_1_link.stl"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value=".1" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<link name="wrist_2_link">
<visual>
<origin xyz="0 0 0.043" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/wrist_2_link.stl"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin xyz="0 0 0.043" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/wrist_2_link.stl"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value=".1" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<link name="gripper_rail_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 1.57" />
<geometry>
<mesh filename="meshes/gripper_rail_link.stl"/>
</geometry>
<material name="greyish"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 1.57" />
<geometry>
<mesh filename="meshes/gripper_rail_link.stl"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value=".1" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<link name="gripper_aux_link">
</link>
<link name="gripper_1_link">
<visual>
<origin xyz="0 -0.0007 0" rpy="0 0 1.57" />
<geometry>
<mesh filename="meshes/gripper_hand_fixed_link.stl"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin xyz="0 -0.0007 0" rpy="0 0 1.57" />
<geometry>
<mesh filename="meshes/gripper_hand_fixed_link.stl"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value=".1" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<link name="gripper_2_link">
<visual>
<origin xyz="0 0.0007 0" rpy="0 0 -1.57" />
<geometry>
<mesh filename="meshes/gripper_hand_fixed_link.stl"/>
</geometry>
<material name="greyish"/>
</visual>
<collision>
<origin xyz="0 0.0007 0" rpy="0 0 -1.57" />
<geometry>
<mesh filename="meshes/gripper_hand_fixed_link.stl"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value=".1" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<!-- joints -->
<joint name="joint_1" type="revolute">
<origin xyz="0 0 0.125" rpy="0 0 0" />
<parent link="arm_base_link" />
<child link="shoulder_link" />
<axis xyz="0 0 1" />
<limit lower="-2.617" upper="2.617" effort="0" velocity="0.785" />
</joint>
<joint name="joint_2" type="revolute">
<!--origin xyz="0.04825 0 0.14203" rpy="0 0 0" /-->
<origin xyz="0 0 0" rpy="0 0 0" />
<parent link="shoulder_link" />
<child link="biceps_link" />
<axis xyz="0 1 0" />
<limit lower="-1.571" upper="1.571" effort="0" velocity="1.571" />
</joint>
<joint name="joint_3" type="revolute">
<origin xyz="0.04825 0 0.14203" rpy="0 1.5707963268 0" />
<parent link="biceps_link" />
<child link="forearm_link" />
<axis xyz="0 1 0" />
<limit lower="-1.571" upper="1.571" effort="0" velocity="1.571" />
</joint>
<joint name="joint_4" type="revolute">
<origin xyz="0 0 0.14203" rpy="0 0 0" />
<parent link="forearm_link" />
<child link="wrist_1_link" />
<axis xyz="0 1 0" />
<limit lower="-1.745" upper="1.745" effort="0" velocity="1.571" />
</joint>
<joint name="joint_5" type="revolute">
<origin xyz="0 0 0.0715" rpy="0 0 0" />
<parent link="wrist_1_link" />
<child link="wrist_2_link" />
<axis xyz="0 0 1" />
<limit lower="-2.617" upper="2.617" effort="0" velocity="1.571" />
</joint>
<joint name="joint_6" type="fixed">
<origin xyz = "0 0 0.043" rpy="0 0 0" />
<parent link="wrist_2_link" />
<child link="gripper_rail_link" />
<axis xyz="0 0 1" />
<limit lower="-0.31" upper="0.1" effort="0" velocity="0.5" />
</joint>
<joint name="gripper_revolute_joint" type="revolute">
<origin xyz = "0 0 0" rpy="0 0 0" />
<parent link="gripper_rail_link" />
<child link="gripper_aux_link" />
<axis xyz="0 0 1" />
<limit lower="0" upper="2.6" effort="0" velocity="0.5" />
</joint>
<joint name="gripper_prismatic_joint_1" type="prismatic">
<origin xyz="0 0 0" rpy="0 0 0" />
<parent link="gripper_rail_link" />
<child link="gripper_1_link" />
<axis xyz="0 -1 0" />
<limit lower="0" upper="0.027" effort="0" velocity="0.5" />
</joint>
<joint name="gripper_prismatic_joint_2" type="prismatic">
<origin xyz="0 0 0" rpy="0 0 0" />
<parent link="gripper_rail_link" />
<child link="gripper_2_link" />
<mimic joint="gripper_prismatic_joint_1" />
<axis xyz="0 1 0" />
<limit lower="0" upper="0.027" effort="0" velocity="0.5" />
</joint>
</robot>
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