3037 lines
95 KiB
XML
3037 lines
95 KiB
XML
<?xml version="1.0" ?>
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<sdf version='1.4'>
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<model name='pr2'>
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<static>0</static>
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<link name='base_footprint'>
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<self_collide>0</self_collide>
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<inertial>
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<mass>118.001000</mass>
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<iyz>-0.007380</iyz>
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<collision name='base_footprint_geom'>
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<geometry>
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<box>
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</box>
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</geometry>
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<visual name='base_footprint_geom_visual'>
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<geometry>
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</box>
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</geometry>
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</visual>
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<collision name='base_footprint_geom_base_bellow_link'>
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<pose>-0.290000 0.000000 0.851000 0.000000 -0.000000 0.000000</pose>
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<geometry>
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<box>
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<visual name='base_footprint_geom_base_bellow_link_visual'>
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<geometry>
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<collision name='base_footprint_geom_base_link'>
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<geometry>
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<visual name='base_footprint_geom_base_link_visual'>
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</visual>
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<sensor name='base_contact_sensor' type='contact'>
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<update_rate>100.000000</update_rate>
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<contact>
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<collision>base_footprint_geom_base_link</collision>
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<topic>__default_topic__</topic>
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</contact>
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<plugin name='gazebo_contact' filename='libContactPlugin.so'/>
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</sensor>
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<sensor name='base_laser' type='ray'>
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<always_on>1</always_on>
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<visualize>1</visualize>
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<ray>
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<scan>
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<horizontal>
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<min_angle>-2.268900</min_angle>
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<max_angle>2.268900</max_angle>
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<resolution>0.010000</resolution>
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</range>
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<plugin name='laser' filename='libRayPlugin.so'/>
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<velocity_decay/>
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</inertia>
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<collision name='bl_caster_rotation_link_geom'>
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<geometry>
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<visual name='bl_caster_rotation_link_geom_visual'>
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<geometry>
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<collision name='bl_caster_l_wheel_link_geom'>
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<pose>0.000000 0.000000 0.000000 1.570800 -0.000000 0.000000</pose>
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<geometry>
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<length>0.034000</length>
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</geometry>
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<visual name='bl_caster_l_wheel_link_geom_visual'>
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<geometry>
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<mesh>
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</mesh>
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</geometry>
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</visual>
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<velocity_decay/>
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</link>
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<link name='bl_caster_r_wheel_link'>
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<izz>0.011764</izz>
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<collision name='bl_caster_r_wheel_link_geom'>
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<geometry>
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<visual name='bl_caster_r_wheel_link_geom_visual'>
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<geometry>
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<mesh>
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<collision name='br_caster_rotation_link_geom'>
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</geometry>
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</visual>
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<velocity_decay/>
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</link>
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<link name='l_elbow_flex_link'>
|
|
<self_collide>0</self_collide>
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<gravity>0</gravity>
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<pose>0.450000 0.188000 0.790675 0.000000 -0.000000 0.000000</pose>
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<inertial>
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<mass>1.903270</mass>
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<pose>0.010140 0.000320 -0.012110 0.000000 -0.000000 0.000000</pose>
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<ixx>0.003465</ixx>
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<ixy>0.000041</ixy>
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<ixz>0.000432</ixz>
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<iyy>0.004416</iyy>
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<iyz>-0.000040</iyz>
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<izz>0.003592</izz>
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</inertia>
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|
</inertial>
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<collision name='l_elbow_flex_link_geom'>
|
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<geometry>
|
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<mesh>
|
|
<uri>model://pr2/meshes/upper_arm_v0/elbow_flex.stl</uri>
|
|
</mesh>
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</geometry>
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</collision>
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<visual name='l_elbow_flex_link_geom_visual'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://pr2/meshes/upper_arm_v0/elbow_flex.dae</uri>
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</mesh>
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</geometry>
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</visual>
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<velocity_decay/>
|
|
</link>
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|
<link name='l_forearm_roll_link'>
|
|
<self_collide>0</self_collide>
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|
<gravity>0</gravity>
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|
<pose>0.450000 0.188000 0.790675 0.000000 -0.000000 0.000000</pose>
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<inertial>
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<ixx>0.014668</ixx>
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<ixy>0.000052</ixy>
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<ixz>0.000656</ixz>
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<iyy>0.026279</iyy>
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<iyz>-0.000013</iyz>
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<izz>0.027775</izz>
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</inertia>
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</inertial>
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<collision name='l_forearm_roll_link_geom'>
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<geometry>
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<mesh>
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<uri>model://pr2/meshes/upper_arm_v0/forearm_roll_L.stl</uri>
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</mesh>
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</geometry>
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</collision>
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<visual name='l_forearm_roll_link_geom_visual'>
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<geometry>
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<mesh>
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<uri>model://pr2/meshes/upper_arm_v0/forearm_roll.stl</uri>
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</mesh>
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</geometry>
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</visual>
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<collision name='l_forearm_roll_link_geom_l_forearm_link'>
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<geometry>
|
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<mesh>
|
|
<uri>model://pr2/meshes/forearm_v0/forearm.stl</uri>
|
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</mesh>
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</geometry>
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</collision>
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<visual name='l_forearm_roll_link_geom_l_forearm_link_visual'>
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<geometry>
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<mesh>
|
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<uri>model://pr2/meshes/forearm_v0/forearm.dae</uri>
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</mesh>
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</geometry>
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</visual>
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<sensor name='l_forearm_cam_sensor' type='camera'>
|
|
<update_rate>25.000000</update_rate>
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<pose>0.135000 0.000000 0.044000 -1.570800 -0.562869 0.000000</pose>
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<camera>
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<horizontal_fov>1.570796</horizontal_fov>
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<image>
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<width>640</width>
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<height>480</height>
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<format>R8G8B8</format>
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</image>
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<clip>
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<near>0.100000</near>
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<far>100.000000</far>
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</clip>
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</camera>
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</sensor>
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<velocity_decay/>
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</link>
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<link name='l_wrist_flex_link'>
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<self_collide>0</self_collide>
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<gravity>0</gravity>
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<pose>0.771000 0.188000 0.790675 0.000000 -0.000000 0.000000</pose>
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<inertial>
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<mass>0.614020</mass>
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<inertia>
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<ixx>0.000652</ixx>
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<izz>0.000645</izz>
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</inertia>
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</inertial>
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<collision name='l_wrist_flex_link_geom'>
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<geometry>
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<mesh>
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<uri>model://pr2/meshes/forearm_v0/wrist_flex.stl</uri>
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</mesh>
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</geometry>
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</collision>
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<visual name='l_wrist_flex_link_geom_visual'>
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<geometry>
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<mesh>
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<uri>model://pr2/meshes/forearm_v0/wrist_flex.dae</uri>
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</mesh>
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</geometry>
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</visual>
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<velocity_decay/>
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</link>
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<link name='l_wrist_roll_link'>
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|
<self_collide>0</self_collide>
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<gravity>0</gravity>
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<pose>0.771000 0.188000 0.790675 0.000000 -0.000000 0.000000</pose>
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<inertial>
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<mass>0.681070</mass>
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<pose>0.056408 0.000451 -0.001014 0.000000 -0.000000 0.000000</pose>
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<inertia>
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<ixx>0.011352</ixx>
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<ixy>-0.000016</ixy>
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<ixz>-0.000001</ixz>
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<iyy>0.011677</iyy>
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<iyz>-0.000001</iyz>
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<izz>0.011866</izz>
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</inertia>
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</inertial>
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<collision name='l_wrist_roll_link_geom'>
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<geometry>
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<mesh>
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<uri>model://pr2/meshes/forearm_v0/wrist_roll_L.stl</uri>
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</mesh>
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</geometry>
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</collision>
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<visual name='l_wrist_roll_link_geom_visual'>
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<geometry>
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<mesh>
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<uri>model://pr2/meshes/forearm_v0/wrist_roll.stl</uri>
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|
</mesh>
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</geometry>
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</visual>
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<collision name='l_wrist_roll_link_geom_l_gripper_motor_accelerometer_link'>
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|
<geometry>
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|
<box>
|
|
<size>0.001000 0.001000 0.001000</size>
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|
</box>
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</geometry>
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</collision>
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<visual name='l_wrist_roll_link_geom_l_gripper_motor_accelerometer_link_visual'>
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<geometry>
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|
<box>
|
|
<size>0.001000 0.001000 0.001000</size>
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|
</box>
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</geometry>
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</visual>
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<collision name='l_wrist_roll_link_geom_l_gripper_palm_link'>
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|
<geometry>
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<mesh>
|
|
<uri>model://pr2/meshes/gripper_v0/gripper_palm.stl</uri>
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</mesh>
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</geometry>
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</collision>
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<visual name='l_wrist_roll_link_geom_l_gripper_palm_link_visual'>
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<geometry>
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<mesh>
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|
<uri>model://pr2/meshes/gripper_v0/gripper_palm.dae</uri>
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</mesh>
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</geometry>
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</visual>
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<velocity_decay/>
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</link>
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<link name='l_gripper_l_finger_link'>
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|
<self_collide>0</self_collide>
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<gravity>0</gravity>
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<pose>0.847910 0.198000 0.790675 0.000000 -0.000000 0.000000</pose>
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<inertial>
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<mass>0.171260</mass>
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<pose>0.035980 0.017300 -0.001640 0.000000 -0.000000 0.000000</pose>
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<inertia>
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<ixz>-0.000010</ixz>
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<iyy>0.000197</iyy>
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<iyz>-0.000003</iyz>
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<izz>0.000181</izz>
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</inertia>
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</inertial>
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<collision name='l_gripper_l_finger_link_geom'>
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<geometry>
|
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<mesh>
|
|
<uri>model://pr2/meshes/gripper_v0/l_finger.stl</uri>
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</mesh>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu2>500.000000</mu2>
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<slip1>0.000000</slip1>
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<slip2>0.000000</slip2>
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</ode>
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</friction>
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<contact>
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<kd>1.000000</kd>
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<max_vel>100.000000</max_vel>
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<min_depth>0.000000</min_depth>
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</ode>
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</contact>
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</surface>
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</collision>
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<visual name='l_gripper_l_finger_link_geom_visual'>
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<geometry>
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<mesh>
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<uri>model://pr2/meshes/gripper_v0/l_finger.dae</uri>
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</mesh>
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</geometry>
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</visual>
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<velocity_decay/>
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</link>
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<link name='l_gripper_l_finger_tip_link'>
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|
<self_collide>0</self_collide>
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<gravity>0</gravity>
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<izz>0.000015</izz>
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</inertia>
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</inertial>
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<collision name='l_gripper_l_finger_tip_link_geom'>
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|
<geometry>
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<mesh>
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|
<uri>model://pr2/meshes/gripper_v0/l_finger_tip.stl</uri>
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</mesh>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu2>500.000000</mu2>
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<slip1>0.000000</slip1>
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<slip2>0.000000</slip2>
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</ode>
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</friction>
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<contact>
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<kd>1.000000</kd>
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<min_depth>0.000000</min_depth>
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</ode>
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</contact>
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</surface>
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</collision>
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<visual name='l_gripper_l_finger_tip_link_geom_visual'>
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<geometry>
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<mesh>
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|
<uri>model://pr2/meshes/gripper_v0/l_finger_tip.dae</uri>
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|
</mesh>
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</geometry>
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|
</visual>
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<sensor name='l_gripper_l_finger_tip_contact_sensor' type='contact'>
|
|
<update_rate>100.000000</update_rate>
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<contact>
|
|
<collision>l_gripper_l_finger_tip_link_geom</collision>
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|
<topic>__default_topic__</topic>
|
|
</contact>
|
|
</sensor>
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|
<velocity_decay/>
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|
</link>
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<link name='l_gripper_motor_slider_link'>
|
|
<self_collide>0</self_collide>
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|
<gravity>0</gravity>
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<pose>0.939280 0.188000 0.790675 0.000000 -0.000000 0.000000</pose>
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<iyz>0.000000</iyz>
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<izz>0.001000</izz>
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</inertia>
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</inertial>
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<velocity_decay/>
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|
</link>
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|
<link name='l_gripper_motor_screw_link'>
|
|
<self_collide>0</self_collide>
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|
<gravity>0</gravity>
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|
<pose>0.939280 0.188000 0.790675 0.000000 -0.000000 0.000000</pose>
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<izz>0.000100</izz>
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</inertia>
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</inertial>
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<velocity_decay/>
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|
</link>
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|
<link name='l_gripper_r_finger_link'>
|
|
<self_collide>0</self_collide>
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|
<gravity>0</gravity>
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|
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<iyz>0.000002</iyz>
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|
<izz>0.000181</izz>
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</inertia>
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</inertial>
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<collision name='l_gripper_r_finger_link_geom'>
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|
<pose>0.000000 0.000000 0.000000 -3.141590 0.000000 0.000000</pose>
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|
<geometry>
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<mesh>
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|
<uri>model://pr2/meshes/gripper_v0/l_finger.stl</uri>
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|
</mesh>
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|
</geometry>
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|
<surface>
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<friction>
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<ode>
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<mu>500.000000</mu>
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<slip1>0.000000</slip1>
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|
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</ode>
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<visual name='l_gripper_r_finger_link_geom_visual'>
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|
<pose>0.000000 0.000000 0.000000 -3.141590 0.000000 0.000000</pose>
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<geometry>
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<mesh>
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<uri>model://pr2/meshes/gripper_v0/l_finger.dae</uri>
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|
</mesh>
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</geometry>
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|
</visual>
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<velocity_decay/>
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|
</link>
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|
<link name='l_gripper_r_finger_tip_link'>
|
|
<self_collide>0</self_collide>
|
|
<gravity>0</gravity>
|
|
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<izz>0.000015</izz>
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<collision name='l_gripper_r_finger_tip_link_geom'>
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|
<pose>0.000000 0.000000 0.000000 -3.141590 0.000000 0.000000</pose>
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<geometry>
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<mesh>
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|
<uri>model://pr2/meshes/gripper_v0/l_finger_tip.stl</uri>
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</mesh>
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</ode>
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</contact>
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<visual name='l_gripper_r_finger_tip_link_geom_visual'>
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<pose>0.000000 0.000000 0.000000 -3.141590 0.000000 0.000000</pose>
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<geometry>
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<mesh>
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<uri>model://pr2/meshes/gripper_v0/l_finger_tip.dae</uri>
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|
</mesh>
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</geometry>
|
|
</visual>
|
|
<sensor name='l_gripper_r_finger_tip_contact_sensor' type='contact'>
|
|
<update_rate>100.000000</update_rate>
|
|
<contact>
|
|
<collision>l_gripper_r_finger_tip_link_geom</collision>
|
|
<topic>__default_topic__</topic>
|
|
</contact>
|
|
</sensor>
|
|
<velocity_decay/>
|
|
</link>
|
|
<link name='laser_tilt_mount_link'>
|
|
<self_collide>0</self_collide>
|
|
<pose>0.048930 0.000000 1.017680 0.000000 -0.000000 0.000000</pose>
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<pose>-0.001134 0.001667 -0.007067 0.000000 -0.000000 0.000000</pose>
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<izz>0.000895</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name='laser_tilt_mount_link_geom'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://pr2/meshes/tilting_laser_v0/tilting_hokuyo_L.stl</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<surface>
|
|
<friction>
|
|
<ode>
|
|
<mu>0.000000</mu>
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|
<mu2>0.000000</mu2>
|
|
<slip1>0.000000</slip1>
|
|
<slip2>0.000000</slip2>
|
|
</ode>
|
|
</friction>
|
|
<contact>
|
|
<ode>
|
|
<kp>1000000000000.000000</kp>
|
|
<kd>10000.000000</kd>
|
|
<max_vel>100.000000</max_vel>
|
|
<min_depth>0.000000</min_depth>
|
|
</ode>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<visual name='laser_tilt_mount_link_geom_visual'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://pr2/meshes/tilting_laser_v0/tilting_hokuyo.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</visual>
|
|
<sensor name='laser_tilt' type='ray'>
|
|
<update_rate>40.000000</update_rate>
|
|
<pose>0.000000 0.000000 0.030000 0.000000 -0.000000 0.000000</pose>
|
|
<ray>
|
|
<scan>
|
|
<horizontal>
|
|
<samples>640</samples>
|
|
<resolution>1.000000</resolution>
|
|
<min_angle>-1.396263</min_angle>
|
|
<max_angle>1.396263</max_angle>
|
|
</horizontal>
|
|
</scan>
|
|
<range>
|
|
<min>0.080000</min>
|
|
<max>10.000000</max>
|
|
<resolution>0.010000</resolution>
|
|
</range>
|
|
</ray>
|
|
</sensor>
|
|
<velocity_decay/>
|
|
</link>
|
|
<link name='r_shoulder_pan_link'>
|
|
<self_collide>0</self_collide>
|
|
<gravity>0</gravity>
|
|
<pose>-0.050000 -0.188000 0.790675 0.000000 -0.000000 0.000000</pose>
|
|
<inertial>
|
|
<mass>25.799300</mass>
|
|
<pose>-0.001201 0.024513 -0.098231 0.000000 -0.000000 0.000000</pose>
|
|
<inertia>
|
|
<ixx>0.866179</ixx>
|
|
<ixy>-0.060865</ixy>
|
|
<ixz>-0.121181</ixz>
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|
<iyy>0.874217</iyy>
|
|
<iyz>-0.058866</iyz>
|
|
<izz>0.273538</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name='r_shoulder_pan_link_geom'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://pr2/meshes/shoulder_v0/shoulder_pan.stl</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<surface>
|
|
<friction>
|
|
<ode>
|
|
<mu>0.000000</mu>
|
|
<mu2>0.000000</mu2>
|
|
<slip1>0.000000</slip1>
|
|
<slip2>0.000000</slip2>
|
|
</ode>
|
|
</friction>
|
|
<contact>
|
|
<ode>
|
|
<kp>1000000000000.000000</kp>
|
|
<kd>10000.000000</kd>
|
|
<max_vel>100.000000</max_vel>
|
|
<min_depth>0.000000</min_depth>
|
|
</ode>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<visual name='r_shoulder_pan_link_geom_visual'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://pr2/meshes/shoulder_v0/shoulder_pan.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</visual>
|
|
<velocity_decay/>
|
|
</link>
|
|
<link name='r_shoulder_lift_link'>
|
|
<self_collide>0</self_collide>
|
|
<gravity>0</gravity>
|
|
<pose>0.050000 -0.188000 0.790675 0.000000 -0.000000 0.000000</pose>
|
|
<inertial>
|
|
<mass>2.749880</mass>
|
|
<pose>0.021950 -0.026640 -0.031270 0.000000 -0.000000 0.000000</pose>
|
|
<inertia>
|
|
<ixx>0.021056</ixx>
|
|
<ixy>0.004967</ixy>
|
|
<ixz>-0.001948</ixz>
|
|
<iyy>0.021272</iyy>
|
|
<iyz>0.001104</iyz>
|
|
<izz>0.019758</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name='r_shoulder_lift_link_geom'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://pr2/meshes/shoulder_v0/shoulder_lift.stl</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<surface>
|
|
<friction>
|
|
<ode>
|
|
<mu>0.000000</mu>
|
|
<mu2>0.000000</mu2>
|
|
<slip1>0.000000</slip1>
|
|
<slip2>0.000000</slip2>
|
|
</ode>
|
|
</friction>
|
|
<contact>
|
|
<ode>
|
|
<kp>1000000000000.000000</kp>
|
|
<kd>10000.000000</kd>
|
|
<max_vel>100.000000</max_vel>
|
|
<min_depth>0.000000</min_depth>
|
|
</ode>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<visual name='r_shoulder_lift_link_geom_visual'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://pr2/meshes/shoulder_v0/shoulder_lift.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</visual>
|
|
<velocity_decay/>
|
|
</link>
|
|
<link name='r_upper_arm_roll_link'>
|
|
<self_collide>0</self_collide>
|
|
<gravity>0</gravity>
|
|
<pose>0.050000 -0.188000 0.790675 0.000000 -0.000000 0.000000</pose>
|
|
<inertial>
|
|
<mass>6.117690</mass>
|
|
<pose>0.210482 -0.015945 -0.000197 0.000000 -0.000000 0.000000</pose>
|
|
<inertia>
|
|
<ixx>0.025378</ixx>
|
|
<ixy>0.003757</ixy>
|
|
<ixz>-0.000709</ixz>
|
|
<iyy>0.084737</iyy>
|
|
<iyz>-0.000179</iyz>
|
|
<izz>0.086088</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name='r_upper_arm_roll_link_geom'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://pr2/meshes/shoulder_v0/upper_arm_roll_L.stl</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</collision>
|
|
<visual name='r_upper_arm_roll_link_geom_visual'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://pr2/meshes/shoulder_v0/upper_arm_roll.stl</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</visual>
|
|
<collision name='r_upper_arm_roll_link_geom_r_upper_arm_link'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://pr2/meshes/upper_arm_v0/upper_arm.stl</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</collision>
|
|
<visual name='r_upper_arm_roll_link_geom_r_upper_arm_link_visual'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://pr2/meshes/upper_arm_v0/upper_arm.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</visual>
|
|
<velocity_decay/>
|
|
</link>
|
|
<link name='r_elbow_flex_link'>
|
|
<self_collide>0</self_collide>
|
|
<gravity>0</gravity>
|
|
<pose>0.450000 -0.188000 0.790675 0.000000 -0.000000 0.000000</pose>
|
|
<inertial>
|
|
<mass>1.903270</mass>
|
|
<pose>0.010140 0.000320 -0.012110 0.000000 -0.000000 0.000000</pose>
|
|
<inertia>
|
|
<ixx>0.003465</ixx>
|
|
<ixy>0.000041</ixy>
|
|
<ixz>0.000432</ixz>
|
|
<iyy>0.004416</iyy>
|
|
<iyz>-0.000040</iyz>
|
|
<izz>0.003592</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name='r_elbow_flex_link_geom'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://pr2/meshes/upper_arm_v0/elbow_flex.stl</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</collision>
|
|
<visual name='r_elbow_flex_link_geom_visual'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://pr2/meshes/upper_arm_v0/elbow_flex.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</visual>
|
|
<velocity_decay/>
|
|
</link>
|
|
<link name='r_forearm_roll_link'>
|
|
<self_collide>0</self_collide>
|
|
<gravity>0</gravity>
|
|
<pose>0.450000 -0.188000 0.790675 0.000000 -0.000000 0.000000</pose>
|
|
<inertial>
|
|
<mass>2.689680</mass>
|
|
<pose>0.180727 -0.000163 -0.008583 0.000000 -0.000000 0.000000</pose>
|
|
<inertia>
|
|
<ixx>0.014668</ixx>
|
|
<ixy>0.000052</ixy>
|
|
<ixz>0.000656</ixz>
|
|
<iyy>0.026279</iyy>
|
|
<iyz>-0.000013</iyz>
|
|
<izz>0.027775</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name='r_forearm_roll_link_geom'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://pr2/meshes/upper_arm_v0/forearm_roll_L.stl</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</collision>
|
|
<visual name='r_forearm_roll_link_geom_visual'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://pr2/meshes/upper_arm_v0/forearm_roll.stl</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</visual>
|
|
<collision name='r_forearm_roll_link_geom_r_forearm_link'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://pr2/meshes/forearm_v0/forearm.stl</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</collision>
|
|
<visual name='r_forearm_roll_link_geom_r_forearm_link_visual'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://pr2/meshes/forearm_v0/forearm.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</visual>
|
|
<sensor name='r_forearm_cam_sensor' type='camera'>
|
|
<update_rate>25.000000</update_rate>
|
|
<pose>0.135000 0.000000 0.044000 1.570800 -0.562869 -0.000000</pose>
|
|
<camera>
|
|
<horizontal_fov>1.570796</horizontal_fov>
|
|
<image>
|
|
<width>640</width>
|
|
<height>480</height>
|
|
<format>R8G8B8</format>
|
|
</image>
|
|
<clip>
|
|
<near>0.100000</near>
|
|
<far>100.000000</far>
|
|
</clip>
|
|
</camera>
|
|
</sensor>
|
|
<velocity_decay/>
|
|
</link>
|
|
<link name='r_wrist_flex_link'>
|
|
<self_collide>0</self_collide>
|
|
<gravity>0</gravity>
|
|
<pose>0.771000 -0.188000 0.790675 0.000000 -0.000000 0.000000</pose>
|
|
<inertial>
|
|
<mass>0.614020</mass>
|
|
<pose>-0.001570 0.000000 -0.000750 0.000000 -0.000000 0.000000</pose>
|
|
<inertia>
|
|
<ixx>0.000652</ixx>
|
|
<ixy>0.000000</ixy>
|
|
<ixz>0.000003</ixz>
|
|
<iyy>0.000198</iyy>
|
|
<iyz>0.000000</iyz>
|
|
<izz>0.000645</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name='r_wrist_flex_link_geom'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://pr2/meshes/forearm_v0/wrist_flex.stl</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</collision>
|
|
<visual name='r_wrist_flex_link_geom_visual'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://pr2/meshes/forearm_v0/wrist_flex.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</visual>
|
|
<velocity_decay/>
|
|
</link>
|
|
<link name='r_wrist_roll_link'>
|
|
<self_collide>0</self_collide>
|
|
<gravity>0</gravity>
|
|
<pose>0.771000 -0.188000 0.790675 0.000000 -0.000000 0.000000</pose>
|
|
<inertial>
|
|
<mass>0.681070</mass>
|
|
<pose>0.056408 0.000451 -0.001014 0.000000 -0.000000 0.000000</pose>
|
|
<inertia>
|
|
<ixx>0.011352</ixx>
|
|
<ixy>-0.000016</ixy>
|
|
<ixz>-0.000001</ixz>
|
|
<iyy>0.011677</iyy>
|
|
<iyz>-0.000001</iyz>
|
|
<izz>0.011866</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name='r_wrist_roll_link_geom'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://pr2/meshes/forearm_v0/wrist_roll_L.stl</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</collision>
|
|
<visual name='r_wrist_roll_link_geom_visual'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://pr2/meshes/forearm_v0/wrist_roll.stl</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</visual>
|
|
<collision name='r_wrist_roll_link_geom_r_gripper_motor_accelerometer_link'>
|
|
<geometry>
|
|
<box>
|
|
<size>0.001000 0.001000 0.001000</size>
|
|
</box>
|
|
</geometry>
|
|
</collision>
|
|
<visual name='r_wrist_roll_link_geom_r_gripper_motor_accelerometer_link_visual'>
|
|
<geometry>
|
|
<box>
|
|
<size>0.001000 0.001000 0.001000</size>
|
|
</box>
|
|
</geometry>
|
|
</visual>
|
|
<collision name='r_wrist_roll_link_geom_r_gripper_palm_link'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://pr2/meshes/gripper_v0/gripper_palm.stl</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</collision>
|
|
<visual name='r_wrist_roll_link_geom_r_gripper_palm_link_visual'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://pr2/meshes/gripper_v0/gripper_palm.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</visual>
|
|
<velocity_decay/>
|
|
</link>
|
|
<link name='r_gripper_l_finger_link'>
|
|
<self_collide>0</self_collide>
|
|
<gravity>0</gravity>
|
|
<pose>0.847910 -0.178000 0.790675 0.000000 -0.000000 0.000000</pose>
|
|
<inertial>
|
|
<mass>0.171260</mass>
|
|
<pose>0.035980 0.017300 -0.001640 0.000000 -0.000000 0.000000</pose>
|
|
<inertia>
|
|
<ixx>0.000078</ixx>
|
|
<ixy>0.000001</ixy>
|
|
<ixz>0.000010</ixz>
|
|
<iyy>0.000197</iyy>
|
|
<iyz>-0.000003</iyz>
|
|
<izz>0.000181</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name='r_gripper_l_finger_link_geom'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://pr2/meshes/gripper_v0/l_finger.stl</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<surface>
|
|
<friction>
|
|
<ode>
|
|
<mu>500.000000</mu>
|
|
<mu2>500.000000</mu2>
|
|
<slip1>0.000000</slip1>
|
|
<slip2>0.000000</slip2>
|
|
</ode>
|
|
</friction>
|
|
<contact>
|
|
<ode>
|
|
<kp>1000000.000000</kp>
|
|
<kd>1.000000</kd>
|
|
<max_vel>100.000000</max_vel>
|
|
<min_depth>0.000000</min_depth>
|
|
</ode>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<visual name='r_gripper_l_finger_link_geom_visual'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://pr2/meshes/gripper_v0/l_finger.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</visual>
|
|
<velocity_decay/>
|
|
</link>
|
|
<link name='r_gripper_l_finger_tip_link'>
|
|
<self_collide>0</self_collide>
|
|
<gravity>0</gravity>
|
|
<pose>0.939280 -0.173050 0.790675 0.000000 -0.000000 0.000000</pose>
|
|
<inertial>
|
|
<mass>0.044190</mass>
|
|
<pose>0.004230 0.002840 0.000000 0.000000 -0.000000 0.000000</pose>
|
|
<inertia>
|
|
<ixx>0.000008</ixx>
|
|
<ixy>0.000006</ixy>
|
|
<ixz>0.000000</ixz>
|
|
<iyy>0.000010</iyy>
|
|
<iyz>0.000000</iyz>
|
|
<izz>0.000015</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name='r_gripper_l_finger_tip_link_geom'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://pr2/meshes/gripper_v0/l_finger_tip.stl</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<surface>
|
|
<friction>
|
|
<ode>
|
|
<mu>500.000000</mu>
|
|
<mu2>500.000000</mu2>
|
|
<slip1>0.000000</slip1>
|
|
<slip2>0.000000</slip2>
|
|
</ode>
|
|
</friction>
|
|
<contact>
|
|
<ode>
|
|
<kp>10000000.000000</kp>
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<kd>1.000000</kd>
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<min_depth>0.000000</min_depth>
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</ode>
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</contact>
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</surface>
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</collision>
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<geometry>
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<mesh>
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<uri>model://pr2/meshes/gripper_v0/l_finger_tip.dae</uri>
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</mesh>
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</geometry>
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</visual>
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<sensor name='r_gripper_l_finger_tip_contact_sensor' type='contact'>
|
|
<update_rate>100.000000</update_rate>
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<contact>
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<collision>r_gripper_l_finger_tip_link_geom</collision>
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<topic>__default_topic__</topic>
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</contact>
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</sensor>
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<velocity_decay/>
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</link>
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<link name='r_gripper_motor_slider_link'>
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<self_collide>0</self_collide>
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<gravity>0</gravity>
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<inertial>
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<izz>0.001000</izz>
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</inertia>
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</inertial>
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<velocity_decay/>
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</link>
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<link name='r_gripper_motor_screw_link'>
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<self_collide>0</self_collide>
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<gravity>0</gravity>
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<izz>0.000100</izz>
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</inertia>
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</inertial>
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<velocity_decay/>
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</link>
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<link name='r_gripper_r_finger_link'>
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|
<self_collide>0</self_collide>
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|
<gravity>0</gravity>
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<iyz>0.000002</iyz>
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<izz>0.000181</izz>
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</inertia>
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</inertial>
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<collision name='r_gripper_r_finger_link_geom'>
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<geometry>
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<mesh>
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<uri>model://pr2/meshes/gripper_v0/l_finger.stl</uri>
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</mesh>
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</geometry>
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<surface>
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<friction>
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</ode>
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</friction>
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<contact>
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<kp>1000000.000000</kp>
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<max_vel>100.000000</max_vel>
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<min_depth>0.000000</min_depth>
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</ode>
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</contact>
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</surface>
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</collision>
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<visual name='r_gripper_r_finger_link_geom_visual'>
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<geometry>
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<mesh>
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<uri>model://pr2/meshes/gripper_v0/l_finger.dae</uri>
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</mesh>
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</geometry>
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</visual>
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<velocity_decay/>
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</link>
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<link name='r_gripper_r_finger_tip_link'>
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|
<self_collide>0</self_collide>
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<gravity>0</gravity>
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<mass>0.044190</mass>
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<izz>0.000015</izz>
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</inertia>
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</inertial>
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<collision name='r_gripper_r_finger_tip_link_geom'>
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<pose>0.000000 0.000000 0.000000 -3.141590 0.000000 0.000000</pose>
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<geometry>
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<mesh>
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<uri>model://pr2/meshes/gripper_v0/l_finger_tip.stl</uri>
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</mesh>
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</geometry>
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<surface>
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</ode>
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</friction>
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<kp>10000000.000000</kp>
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<kd>1.000000</kd>
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<max_vel>100.000000</max_vel>
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<min_depth>0.000000</min_depth>
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</ode>
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</contact>
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</surface>
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</collision>
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<visual name='r_gripper_r_finger_tip_link_geom_visual'>
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<pose>0.000000 0.000000 0.000000 -3.141590 0.000000 0.000000</pose>
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<geometry>
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<mesh>
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<uri>model://pr2/meshes/gripper_v0/l_finger_tip.dae</uri>
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|
</mesh>
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</geometry>
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</visual>
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|
<sensor name='r_gripper_r_finger_tip_contact_sensor' type='contact'>
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|
<update_rate>100.000000</update_rate>
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|
<contact>
|
|
<collision>r_gripper_r_finger_tip_link_geom</collision>
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|
<topic>__default_topic__</topic>
|
|
</contact>
|
|
</sensor>
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|
<velocity_decay/>
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|
</link>
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|
<link name='torso_lift_motor_screw_link'>
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|
<self_collide>0</self_collide>
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|
<pose>-0.150000 0.000000 0.751000 0.000000 -0.000000 0.000000</pose>
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<inertial>
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<mass>1.000000</mass>
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<inertia>
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<ixx>0.001000</ixx>
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<ixy>0.000000</ixy>
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<ixz>0.000000</ixz>
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<iyy>0.001000</iyy>
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|
<iyz>0.000000</iyz>
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|
<izz>0.001000</izz>
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|
</inertia>
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|
</inertial>
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|
<velocity_decay/>
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|
</link>
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|
<link name='r_gripper_l_parallel_link'>
|
|
<self_collide>0</self_collide>
|
|
<gravity>0</gravity>
|
|
<pose>0.829910 -0.157000 0.790675 0.000000 -0.000000 0.000000</pose>
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<inertial>
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|
<mass>0.171260</mass>
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<pose>0.035980 0.017300 -0.001640 0.000000 -0.000000 0.000000</pose>
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|
<inertia>
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|
<ixx>0.000078</ixx>
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|
<ixy>0.000001</ixy>
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|
<ixz>-0.000010</ixz>
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|
<iyy>0.000197</iyy>
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|
<iyz>-0.000003</iyz>
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|
<izz>0.000181</izz>
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|
</inertia>
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|
</inertial>
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|
<velocity_decay/>
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|
</link>
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|
<link name='r_gripper_r_parallel_link'>
|
|
<self_collide>0</self_collide>
|
|
<gravity>0</gravity>
|
|
<pose>0.829910 -0.219000 0.790675 0.000000 -0.000000 0.000000</pose>
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|
<inertial>
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<mass>0.173890</mass>
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<pose>0.035760 -0.017360 -0.000950 0.000000 -0.000000 0.000000</pose>
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<inertia>
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<ixx>0.000077</ixx>
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<ixy>-0.000002</ixy>
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<ixz>-0.000008</ixz>
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<iyy>0.000198</iyy>
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<iyz>0.000002</iyz>
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|
<izz>0.000181</izz>
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|
</inertia>
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|
</inertial>
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|
<velocity_decay/>
|
|
</link>
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|
<link name='l_gripper_l_parallel_link'>
|
|
<self_collide>0</self_collide>
|
|
<gravity>0</gravity>
|
|
<pose>0.829910 0.219000 0.790675 0.000000 -0.000000 0.000000</pose>
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<inertial>
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<mass>0.171260</mass>
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<pose>0.035980 0.017300 -0.001640 0.000000 -0.000000 0.000000</pose>
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<inertia>
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<ixx>0.000078</ixx>
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<ixy>0.000001</ixy>
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<ixz>0.000010</ixz>
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|
<iyy>0.000197</iyy>
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<iyz>-0.000003</iyz>
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<izz>0.000181</izz>
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|
</inertia>
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|
</inertial>
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|
<velocity_decay/>
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|
</link>
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|
<link name='l_gripper_r_parallel_link'>
|
|
<self_collide>0</self_collide>
|
|
<gravity>0</gravity>
|
|
<pose>0.829910 0.157000 0.790675 0.000000 -0.000000 0.000000</pose>
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|
<inertial>
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|
<mass>0.173890</mass>
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<pose>0.035760 -0.017360 -0.000950 0.000000 -0.000000 0.000000</pose>
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<inertia>
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<ixx>0.000077</ixx>
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<ixy>-0.000002</ixy>
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|
<ixz>0.000008</ixz>
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|
<iyy>0.000198</iyy>
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|
<iyz>0.000002</iyz>
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|
<izz>0.000181</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<velocity_decay/>
|
|
</link>
|
|
<joint name='bl_caster_rotation_joint' type='revolute'>
|
|
<parent>base_footprint</parent>
|
|
<child>bl_caster_rotation_link</child>
|
|
<axis>
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|
<xyz>0.000000 0.000000 1.000000</xyz>
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|
<limit>
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|
<lower>-10000000000000000.000000</lower>
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|
<upper>10000000000000000.000000</upper>
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|
<effort>0.000000</effort>
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|
<velocity>4.000000</velocity>
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|
</limit>
|
|
</axis>
|
|
</joint>
|
|
<joint name='bl_caster_l_wheel_joint' type='revolute'>
|
|
<parent>bl_caster_rotation_link</parent>
|
|
<child>bl_caster_l_wheel_link</child>
|
|
<axis>
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|
<xyz>0.000000 1.000000 0.000000</xyz>
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|
<limit>
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|
<lower>-10000000000000000.000000</lower>
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|
<upper>10000000000000000.000000</upper>
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|
<effort>0.000000</effort>
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|
<velocity>4.000000</velocity>
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|
</limit>
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|
</axis>
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|
</joint>
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|
<joint name='bl_caster_r_wheel_joint' type='revolute'>
|
|
<parent>bl_caster_rotation_link</parent>
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|
<child>bl_caster_r_wheel_link</child>
|
|
<axis>
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|
<xyz>0.000000 1.000000 0.000000</xyz>
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|
<limit>
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|
<lower>-10000000000000000.000000</lower>
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|
<upper>10000000000000000.000000</upper>
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|
<effort>0.000000</effort>
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|
<velocity>4.000000</velocity>
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|
</limit>
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|
</axis>
|
|
</joint>
|
|
<joint name='br_caster_rotation_joint' type='revolute'>
|
|
<parent>base_footprint</parent>
|
|
<child>br_caster_rotation_link</child>
|
|
<axis>
|
|
<xyz>0.000000 0.000000 1.000000</xyz>
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|
<limit>
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|
<lower>-10000000000000000.000000</lower>
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|
<upper>10000000000000000.000000</upper>
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|
<effort>0.000000</effort>
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|
<velocity>4.000000</velocity>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
<joint name='br_caster_l_wheel_joint' type='revolute'>
|
|
<parent>br_caster_rotation_link</parent>
|
|
<child>br_caster_l_wheel_link</child>
|
|
<axis>
|
|
<xyz>0.000000 1.000000 0.000000</xyz>
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|
<limit>
|
|
<lower>-10000000000000000.000000</lower>
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|
<upper>10000000000000000.000000</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>4.000000</velocity>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
<joint name='br_caster_r_wheel_joint' type='revolute'>
|
|
<parent>br_caster_rotation_link</parent>
|
|
<child>br_caster_r_wheel_link</child>
|
|
<axis>
|
|
<xyz>0.000000 1.000000 0.000000</xyz>
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|
<limit>
|
|
<lower>-10000000000000000.000000</lower>
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|
<upper>10000000000000000.000000</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>4.000000</velocity>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
<joint name='fl_caster_rotation_joint' type='revolute'>
|
|
<parent>base_footprint</parent>
|
|
<child>fl_caster_rotation_link</child>
|
|
<axis>
|
|
<xyz>0.000000 0.000000 1.000000</xyz>
|
|
<limit>
|
|
<lower>-10000000000000000.000000</lower>
|
|
<upper>10000000000000000.000000</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>4.000000</velocity>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
<joint name='fl_caster_l_wheel_joint' type='revolute'>
|
|
<parent>fl_caster_rotation_link</parent>
|
|
<child>fl_caster_l_wheel_link</child>
|
|
<axis>
|
|
<xyz>0.000000 1.000000 0.000000</xyz>
|
|
<limit>
|
|
<lower>-10000000000000000.000000</lower>
|
|
<upper>10000000000000000.000000</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>4.000000</velocity>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
<joint name='fl_caster_r_wheel_joint' type='revolute'>
|
|
<parent>fl_caster_rotation_link</parent>
|
|
<child>fl_caster_r_wheel_link</child>
|
|
<axis>
|
|
<xyz>0.000000 1.000000 0.000000</xyz>
|
|
<limit>
|
|
<lower>-10000000000000000.000000</lower>
|
|
<upper>10000000000000000.000000</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>4.000000</velocity>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
<joint name='fr_caster_rotation_joint' type='revolute'>
|
|
<parent>base_footprint</parent>
|
|
<child>fr_caster_rotation_link</child>
|
|
<axis>
|
|
<xyz>0.000000 0.000000 1.000000</xyz>
|
|
<limit>
|
|
<lower>-10000000000000000.000000</lower>
|
|
<upper>10000000000000000.000000</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>4.000000</velocity>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
<joint name='fr_caster_l_wheel_joint' type='revolute'>
|
|
<parent>fr_caster_rotation_link</parent>
|
|
<child>fr_caster_l_wheel_link</child>
|
|
<axis>
|
|
<xyz>0.000000 1.000000 0.000000</xyz>
|
|
<limit>
|
|
<lower>-10000000000000000.000000</lower>
|
|
<upper>10000000000000000.000000</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>4.000000</velocity>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
<joint name='fr_caster_r_wheel_joint' type='revolute'>
|
|
<parent>fr_caster_rotation_link</parent>
|
|
<child>fr_caster_r_wheel_link</child>
|
|
<axis>
|
|
<xyz>0.000000 1.000000 0.000000</xyz>
|
|
<limit>
|
|
<lower>-10000000000000000.000000</lower>
|
|
<upper>10000000000000000.000000</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>4.000000</velocity>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
<joint name='torso_lift_joint' type='prismatic'>
|
|
<parent>base_footprint</parent>
|
|
<child>torso_lift_link</child>
|
|
<axis>
|
|
<xyz>0.000000 0.000000 1.000000</xyz>
|
|
<limit>
|
|
<lower>0.000000</lower>
|
|
<upper>0.330000</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>4.000000</velocity>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
<joint name='head_pan_joint' type='revolute'>
|
|
<parent>torso_lift_link</parent>
|
|
<child>head_pan_link</child>
|
|
<axis>
|
|
<xyz>0.000000 0.000000 1.000000</xyz>
|
|
<dynamics>
|
|
<damping>2.000000</damping>
|
|
<friction>0.000000</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-3.006993</lower>
|
|
<upper>3.006993</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>4.000000</velocity>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
<joint name='head_tilt_joint' type='revolute'>
|
|
<parent>head_pan_link</parent>
|
|
<child>head_tilt_link</child>
|
|
<axis>
|
|
<xyz>0.000000 1.000000 0.000000</xyz>
|
|
<dynamics>
|
|
<damping>10.000000</damping>
|
|
<friction>0.000000</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-0.471237</lower>
|
|
<upper>1.396260</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>4.000000</velocity>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
<joint name='l_shoulder_pan_joint' type='revolute'>
|
|
<parent>torso_lift_link</parent>
|
|
<child>l_shoulder_pan_link</child>
|
|
<axis>
|
|
<xyz>0.000000 0.000000 1.000000</xyz>
|
|
<dynamics>
|
|
<damping>10.000000</damping>
|
|
<friction>0.000000</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-0.714602</lower>
|
|
<upper>2.285404</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>4.000000</velocity>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
<joint name='l_shoulder_lift_joint' type='revolute'>
|
|
<parent>l_shoulder_pan_link</parent>
|
|
<child>l_shoulder_lift_link</child>
|
|
<axis>
|
|
<xyz>0.000000 1.000000 0.000000</xyz>
|
|
<dynamics>
|
|
<damping>10.000000</damping>
|
|
<friction>0.000000</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-0.523601</lower>
|
|
<upper>1.396300</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>4.000000</velocity>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
<joint name='l_upper_arm_roll_joint' type='revolute'>
|
|
<parent>l_shoulder_lift_link</parent>
|
|
<child>l_upper_arm_roll_link</child>
|
|
<axis>
|
|
<xyz>1.000000 0.000000 0.000000</xyz>
|
|
<dynamics>
|
|
<damping>0.100000</damping>
|
|
<friction>0.000000</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-0.800000</lower>
|
|
<upper>3.900008</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>4.000000</velocity>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
<joint name='l_elbow_flex_joint' type='revolute'>
|
|
<parent>l_upper_arm_roll_link</parent>
|
|
<child>l_elbow_flex_link</child>
|
|
<axis>
|
|
<xyz>0.000000 1.000000 0.000000</xyz>
|
|
<dynamics>
|
|
<damping>1.000000</damping>
|
|
<friction>0.000000</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-2.321305</lower>
|
|
<upper>0.000000</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>4.000000</velocity>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
<joint name='l_forearm_roll_joint' type='revolute'>
|
|
<parent>l_elbow_flex_link</parent>
|
|
<child>l_forearm_roll_link</child>
|
|
<axis>
|
|
<xyz>1.000000 0.000000 0.000000</xyz>
|
|
<dynamics>
|
|
<damping>0.100000</damping>
|
|
<friction>0.000000</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-10000000000000000.000000</lower>
|
|
<upper>10000000000000000.000000</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>4.000000</velocity>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
<joint name='l_wrist_flex_joint' type='revolute'>
|
|
<parent>l_forearm_roll_link</parent>
|
|
<child>l_wrist_flex_link</child>
|
|
<axis>
|
|
<xyz>0.000000 1.000000 0.000000</xyz>
|
|
<dynamics>
|
|
<damping>0.100000</damping>
|
|
<friction>0.000000</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-2.180004</lower>
|
|
<upper>0.000000</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>4.000000</velocity>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
<joint name='l_wrist_roll_joint' type='revolute'>
|
|
<parent>l_wrist_flex_link</parent>
|
|
<child>l_wrist_roll_link</child>
|
|
<axis>
|
|
<xyz>1.000000 0.000000 0.000000</xyz>
|
|
<dynamics>
|
|
<damping>0.100000</damping>
|
|
<friction>0.000000</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-10000000000000000.000000</lower>
|
|
<upper>10000000000000000.000000</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>4.000000</velocity>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
<joint name='l_gripper_l_finger_joint' type='revolute'>
|
|
<parent>l_wrist_roll_link</parent>
|
|
<child>l_gripper_l_finger_link</child>
|
|
<axis>
|
|
<xyz>0.000000 0.000000 1.000000</xyz>
|
|
<dynamics>
|
|
<damping>0.020000</damping>
|
|
<friction>0.000000</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>0.000000</lower>
|
|
<upper>0.548000</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>4.000000</velocity>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
<joint name='l_gripper_l_finger_tip_joint' type='revolute'>
|
|
<parent>l_gripper_l_finger_link</parent>
|
|
<child>l_gripper_l_finger_tip_link</child>
|
|
<axis>
|
|
<xyz>0.000000 0.000000 -1.000000</xyz>
|
|
<dynamics>
|
|
<damping>0.001000</damping>
|
|
<friction>0.000000</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>0.000000</lower>
|
|
<upper>0.548000</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>4.000000</velocity>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
<joint name='l_gripper_motor_slider_joint' type='prismatic'>
|
|
<parent>l_wrist_roll_link</parent>
|
|
<child>l_gripper_motor_slider_link</child>
|
|
<axis>
|
|
<xyz>1.000000 0.000000 0.000000</xyz>
|
|
<limit>
|
|
<lower>-0.100000</lower>
|
|
<upper>0.100000</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>4.000000</velocity>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
<joint name='l_gripper_motor_screw_joint' type='revolute'>
|
|
<parent>l_gripper_motor_slider_link</parent>
|
|
<child>l_gripper_motor_screw_link</child>
|
|
<axis>
|
|
<xyz>0.000000 1.000000 0.000000</xyz>
|
|
<dynamics>
|
|
<damping>0.000100</damping>
|
|
<friction>0.000000</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-10000000000000000.000000</lower>
|
|
<upper>10000000000000000.000000</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>4.000000</velocity>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
<joint name='l_gripper_r_finger_joint' type='revolute'>
|
|
<parent>l_wrist_roll_link</parent>
|
|
<child>l_gripper_r_finger_link</child>
|
|
<axis>
|
|
<xyz>0.000000 0.000000 -1.000000</xyz>
|
|
<dynamics>
|
|
<damping>0.020000</damping>
|
|
<friction>0.000000</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>0.000000</lower>
|
|
<upper>0.548000</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>4.000000</velocity>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
<joint name='l_gripper_r_finger_tip_joint' type='revolute'>
|
|
<parent>l_gripper_r_finger_link</parent>
|
|
<child>l_gripper_r_finger_tip_link</child>
|
|
<axis>
|
|
<xyz>0.000000 0.000000 1.000000</xyz>
|
|
<dynamics>
|
|
<damping>0.001000</damping>
|
|
<friction>0.000000</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>0.000000</lower>
|
|
<upper>0.548000</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>4.000000</velocity>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
<joint name='laser_tilt_mount_joint' type='revolute'>
|
|
<parent>torso_lift_link</parent>
|
|
<child>laser_tilt_mount_link</child>
|
|
<axis>
|
|
<xyz>0.000000 1.000000 0.000000</xyz>
|
|
<dynamics>
|
|
<damping>0.008000</damping>
|
|
<friction>0.000000</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-0.785400</lower>
|
|
<upper>1.483530</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>4.000000</velocity>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
<joint name='r_shoulder_pan_joint' type='revolute'>
|
|
<parent>torso_lift_link</parent>
|
|
<child>r_shoulder_pan_link</child>
|
|
<axis>
|
|
<xyz>0.000000 0.000000 1.000000</xyz>
|
|
<dynamics>
|
|
<damping>10.000000</damping>
|
|
<friction>0.000000</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-2.285404</lower>
|
|
<upper>0.714602</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>4.000000</velocity>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
<joint name='r_shoulder_lift_joint' type='revolute'>
|
|
<parent>r_shoulder_pan_link</parent>
|
|
<child>r_shoulder_lift_link</child>
|
|
<axis>
|
|
<xyz>0.000000 1.000000 0.000000</xyz>
|
|
<dynamics>
|
|
<damping>10.000000</damping>
|
|
<friction>0.000000</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-0.523601</lower>
|
|
<upper>1.396300</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>4.000000</velocity>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
<joint name='r_upper_arm_roll_joint' type='revolute'>
|
|
<parent>r_shoulder_lift_link</parent>
|
|
<child>r_upper_arm_roll_link</child>
|
|
<axis>
|
|
<xyz>1.000000 0.000000 0.000000</xyz>
|
|
<dynamics>
|
|
<damping>0.100000</damping>
|
|
<friction>0.000000</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-3.900008</lower>
|
|
<upper>0.800000</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>4.000000</velocity>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
<joint name='r_elbow_flex_joint' type='revolute'>
|
|
<parent>r_upper_arm_roll_link</parent>
|
|
<child>r_elbow_flex_link</child>
|
|
<axis>
|
|
<xyz>0.000000 1.000000 0.000000</xyz>
|
|
<dynamics>
|
|
<damping>1.000000</damping>
|
|
<friction>0.000000</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-2.321305</lower>
|
|
<upper>0.000000</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>4.000000</velocity>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
<joint name='r_forearm_roll_joint' type='revolute'>
|
|
<parent>r_elbow_flex_link</parent>
|
|
<child>r_forearm_roll_link</child>
|
|
<axis>
|
|
<xyz>1.000000 0.000000 0.000000</xyz>
|
|
<dynamics>
|
|
<damping>0.100000</damping>
|
|
<friction>0.000000</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-10000000000000000.000000</lower>
|
|
<upper>10000000000000000.000000</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>4.000000</velocity>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
<joint name='r_wrist_flex_joint' type='revolute'>
|
|
<parent>r_forearm_roll_link</parent>
|
|
<child>r_wrist_flex_link</child>
|
|
<axis>
|
|
<xyz>0.000000 1.000000 0.000000</xyz>
|
|
<dynamics>
|
|
<damping>0.100000</damping>
|
|
<friction>0.000000</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-2.180004</lower>
|
|
<upper>0.000000</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>4.000000</velocity>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
<joint name='r_wrist_roll_joint' type='revolute'>
|
|
<parent>r_wrist_flex_link</parent>
|
|
<child>r_wrist_roll_link</child>
|
|
<axis>
|
|
<xyz>1.000000 0.000000 0.000000</xyz>
|
|
<dynamics>
|
|
<damping>0.100000</damping>
|
|
<friction>0.000000</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-10000000000000000.000000</lower>
|
|
<upper>10000000000000000.000000</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>4.000000</velocity>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
<joint name='r_gripper_l_finger_joint' type='revolute'>
|
|
<parent>r_wrist_roll_link</parent>
|
|
<child>r_gripper_l_finger_link</child>
|
|
<axis>
|
|
<xyz>0.000000 0.000000 1.000000</xyz>
|
|
<dynamics>
|
|
<damping>0.020000</damping>
|
|
<friction>0.000000</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>0.000000</lower>
|
|
<upper>0.548000</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>4.000000</velocity>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
<joint name='r_gripper_l_finger_tip_joint' type='revolute'>
|
|
<parent>r_gripper_l_finger_link</parent>
|
|
<child>r_gripper_l_finger_tip_link</child>
|
|
<axis>
|
|
<xyz>0.000000 0.000000 -1.000000</xyz>
|
|
<dynamics>
|
|
<damping>0.001000</damping>
|
|
<friction>0.000000</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>0.000000</lower>
|
|
<upper>0.548000</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>4.000000</velocity>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
<joint name='r_gripper_motor_slider_joint' type='prismatic'>
|
|
<parent>r_wrist_roll_link</parent>
|
|
<child>r_gripper_motor_slider_link</child>
|
|
<axis>
|
|
<xyz>1.000000 0.000000 0.000000</xyz>
|
|
<dynamics>
|
|
<damping>0.000000</damping>
|
|
<friction>0.000000</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-0.100000</lower>
|
|
<upper>0.100000</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>4.000000</velocity>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
<joint name='r_gripper_motor_screw_joint' type='revolute'>
|
|
<parent>r_gripper_motor_slider_link</parent>
|
|
<child>r_gripper_motor_screw_link</child>
|
|
<axis>
|
|
<xyz>0.000000 1.000000 0.000000</xyz>
|
|
<dynamics>
|
|
<damping>0.000100</damping>
|
|
<friction>0.000000</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-10000000000000000.000000</lower>
|
|
<upper>10000000000000000.000000</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>4.000000</velocity>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
<joint name='r_gripper_r_finger_joint' type='revolute'>
|
|
<parent>r_wrist_roll_link</parent>
|
|
<child>r_gripper_r_finger_link</child>
|
|
<axis>
|
|
<xyz>0.000000 0.000000 -1.000000</xyz>
|
|
<dynamics>
|
|
<damping>0.020000</damping>
|
|
<friction>0.000000</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>0.000000</lower>
|
|
<upper>0.548000</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>4.000000</velocity>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
<joint name='r_gripper_r_finger_tip_joint' type='revolute'>
|
|
<parent>r_gripper_r_finger_link</parent>
|
|
<child>r_gripper_r_finger_tip_link</child>
|
|
<axis>
|
|
<xyz>0.000000 0.000000 1.000000</xyz>
|
|
<dynamics>
|
|
<damping>0.001000</damping>
|
|
<friction>0.000000</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>0.000000</lower>
|
|
<upper>0.548000</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>4.000000</velocity>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
<joint name='torso_lift_motor_screw_joint' type='revolute'>
|
|
<parent>base_footprint</parent>
|
|
<child>torso_lift_motor_screw_link</child>
|
|
<axis>
|
|
<xyz>0.000000 0.000000 1.000000</xyz>
|
|
<dynamics>
|
|
<damping>0.000100</damping>
|
|
<friction>0.000000</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-10000000000000000.000000</lower>
|
|
<upper>10000000000000000.000000</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>4.000000</velocity>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
<joint name='torso_lift_screw_torso_lift_joint' type='screw'>
|
|
<parent>torso_lift_link</parent>
|
|
<child>torso_lift_motor_screw_link</child>
|
|
<thread_pitch>3141.600000</thread_pitch>
|
|
<axis>
|
|
<xyz>0.000000 0.000000 1.000000</xyz>
|
|
<dynamics>
|
|
<damping>0.000000</damping>
|
|
<friction>0.000000</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-10000000000000000.000000</lower>
|
|
<upper>10000000000000000.000000</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>4.000000</velocity>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
<joint name='r_gripper_r_screw_screw_joint' type='screw'>
|
|
<parent>r_gripper_r_finger_tip_link</parent>
|
|
<child>r_gripper_motor_screw_link</child>
|
|
<thread_pitch>-3141.600000</thread_pitch>
|
|
<axis>
|
|
<xyz>0.000000 1.000000 0.000000</xyz>
|
|
<dynamics>
|
|
<damping>0.000000</damping>
|
|
<friction>0.000000</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-10000000000000000.000000</lower>
|
|
<upper>10000000000000000.000000</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>4.000000</velocity>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
<joint name='r_gripper_l_screw_screw_joint' type='screw'>
|
|
<parent>r_gripper_l_finger_tip_link</parent>
|
|
<child>r_gripper_motor_screw_link</child>
|
|
<thread_pitch>3141.600000</thread_pitch>
|
|
<axis>
|
|
<xyz>0.000000 1.000000 0.000000</xyz>
|
|
<dynamics>
|
|
<damping>0.000000</damping>
|
|
<friction>0.000000</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-10000000000000000.000000</lower>
|
|
<upper>10000000000000000.000000</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>4.000000</velocity>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
<joint name='r_gripper_r_parallel_root_joint' type='revolute'>
|
|
<pose>0.058910 -0.031000 0.000000 0.000000 -0.000000 0.000000</pose>
|
|
<parent>r_gripper_r_parallel_link</parent>
|
|
<child>r_wrist_roll_link</child>
|
|
<axis>
|
|
<xyz>0.000000 0.000000 -1.000000</xyz>
|
|
<dynamics>
|
|
<damping>0.200000</damping>
|
|
<friction>0.000000</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-10000000000000000.000000</lower>
|
|
<upper>10000000000000000.000000</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>4.000000</velocity>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
<joint name='r_gripper_l_parallel_root_joint' type='revolute'>
|
|
<pose>0.058910 0.031000 0.000000 0.000000 -0.000000 0.000000</pose>
|
|
<parent>r_gripper_l_parallel_link</parent>
|
|
<child>r_wrist_roll_link</child>
|
|
<axis>
|
|
<xyz>0.000000 0.000000 1.000000</xyz>
|
|
<dynamics>
|
|
<damping>0.200000</damping>
|
|
<friction>0.000000</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-10000000000000000.000000</lower>
|
|
<upper>10000000000000000.000000</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>4.000000</velocity>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
<joint name='r_gripper_r_parallel_tip_joint' type='revolute'>
|
|
<pose>-0.018000 -0.021000 0.000000 0.000000 -0.000000 0.000000</pose>
|
|
<parent>r_gripper_r_parallel_link</parent>
|
|
<child>r_gripper_r_finger_tip_link</child>
|
|
<axis>
|
|
<xyz>0.000000 0.000000 1.000000</xyz>
|
|
<dynamics>
|
|
<damping>0.000000</damping>
|
|
<friction>0.000000</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-10000000000000000.000000</lower>
|
|
<upper>10000000000000000.000000</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>4.000000</velocity>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
<joint name='r_gripper_l_parallel_tip_joint' type='revolute'>
|
|
<pose>-0.018000 0.021000 0.000000 0.000000 -0.000000 0.000000</pose>
|
|
<parent>r_gripper_l_parallel_link</parent>
|
|
<child>r_gripper_l_finger_tip_link</child>
|
|
<axis>
|
|
<xyz>0.000000 0.000000 1.000000</xyz>
|
|
<dynamics>
|
|
<damping>0.000000</damping>
|
|
<friction>0.000000</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-10000000000000000.000000</lower>
|
|
<upper>10000000000000000.000000</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>4.000000</velocity>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
<joint name='r_gripper_joint' type='prismatic'>
|
|
<parent>r_gripper_r_finger_tip_link</parent>
|
|
<child>r_gripper_l_finger_tip_link</child>
|
|
<axis>
|
|
<xyz>0.000000 1.000000 0.000000</xyz>
|
|
<dynamics>
|
|
<damping>0.000000</damping>
|
|
<friction>0.000000</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-10000000000000000.000000</lower>
|
|
<upper>10000000000000000.000000</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>4.000000</velocity>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
<joint name='l_gripper_r_screw_screw_joint' type='screw'>
|
|
<parent>l_gripper_r_finger_tip_link</parent>
|
|
<child>l_gripper_motor_screw_link</child>
|
|
<thread_pitch>-3141.600000</thread_pitch>
|
|
<axis>
|
|
<xyz>0.000000 1.000000 0.000000</xyz>
|
|
<dynamics>
|
|
<damping>0.000000</damping>
|
|
<friction>0.000000</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-10000000000000000.000000</lower>
|
|
<upper>10000000000000000.000000</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>4.000000</velocity>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
<joint name='l_gripper_l_screw_screw_joint' type='screw'>
|
|
<parent>l_gripper_l_finger_tip_link</parent>
|
|
<child>l_gripper_motor_screw_link</child>
|
|
<thread_pitch>3141.600000</thread_pitch>
|
|
<axis>
|
|
<xyz>0.000000 1.000000 0.000000</xyz>
|
|
<dynamics>
|
|
<damping>0.000000</damping>
|
|
<friction>0.000000</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-10000000000000000.000000</lower>
|
|
<upper>10000000000000000.000000</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>4.000000</velocity>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
<joint name='l_gripper_r_parallel_root_joint' type='revolute'>
|
|
<pose>0.058910 -0.031000 0.000000 0.000000 -0.000000 0.000000</pose>
|
|
<parent>l_gripper_r_parallel_link</parent>
|
|
<child>l_wrist_roll_link</child>
|
|
<axis>
|
|
<xyz>0.000000 0.000000 -1.000000</xyz>
|
|
<dynamics>
|
|
<damping>0.200000</damping>
|
|
<friction>0.000000</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-10000000000000000.000000</lower>
|
|
<upper>10000000000000000.000000</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>4.000000</velocity>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
<joint name='l_gripper_l_parallel_root_joint' type='revolute'>
|
|
<pose>0.058910 0.031000 0.000000 0.000000 -0.000000 0.000000</pose>
|
|
<parent>l_gripper_l_parallel_link</parent>
|
|
<child>l_wrist_roll_link</child>
|
|
<axis>
|
|
<xyz>0.000000 0.000000 1.000000</xyz>
|
|
<dynamics>
|
|
<damping>0.200000</damping>
|
|
<friction>0.000000</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-10000000000000000.000000</lower>
|
|
<upper>10000000000000000.000000</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>4.000000</velocity>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
<joint name='l_gripper_r_parallel_tip_joint' type='revolute'>
|
|
<pose>-0.018000 -0.021000 0.000000 0.000000 -0.000000 0.000000</pose>
|
|
<parent>l_gripper_r_parallel_link</parent>
|
|
<child>l_gripper_r_finger_tip_link</child>
|
|
<axis>
|
|
<xyz>0.000000 0.000000 1.000000</xyz>
|
|
<dynamics>
|
|
<damping>0.000000</damping>
|
|
<friction>0.000000</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-10000000000000000.000000</lower>
|
|
<upper>10000000000000000.000000</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>4.000000</velocity>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
<joint name='l_gripper_l_parallel_tip_joint' type='revolute'>
|
|
<pose>-0.018000 0.021000 0.000000 0.000000 -0.000000 0.000000</pose>
|
|
<parent>l_gripper_l_parallel_link</parent>
|
|
<child>l_gripper_l_finger_tip_link</child>
|
|
<axis>
|
|
<xyz>0.000000 0.000000 1.000000</xyz>
|
|
<limit>
|
|
<lower>-10000000000000000.000000</lower>
|
|
<upper>10000000000000000.000000</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>4.000000</velocity>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
<joint name='l_gripper_joint' type='prismatic'>
|
|
<parent>l_gripper_r_finger_tip_link</parent>
|
|
<child>l_gripper_l_finger_tip_link</child>
|
|
<axis>
|
|
<xyz>0.000000 1.000000 0.000000</xyz>
|
|
<limit>
|
|
<lower>-10000000000000000.000000</lower>
|
|
<upper>10000000000000000.000000</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>4.000000</velocity>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
</model>
|
|
</sdf>
|