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<?xml version="1.0" ?> |
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<robot name="piper"> |
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<link name="world"/> |
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<link name="left_base"/> |
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<joint name="left_base_joint" type="fixed"> |
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<parent link="world"/> |
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<child link="left_base"/> |
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<origin rpy="0 0 0" xyz="0 0.3 0"/> |
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</joint> |
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<link name="right_base"/> |
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<joint name="right_base_joint" type="fixed"> |
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<parent link="world"/> |
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<child link="right_base"/> |
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<origin rpy="0 0 0" xyz="0.0 -0.3 0"/> |
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</joint> |
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<ros2_control name="left_arm_PiperMockHardwareSystem" type="system"> |
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<hardware> |
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<plugin>topic_based_ros2_control/TopicBasedSystem</plugin> |
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<param name="joint_commands_topic">/left_arm/left_arm_ros2_control_joint_command_topic</param> |
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<param name="joint_states_topic">/left_arm/left_arm_ros2_control_joint_state_topic</param> |
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<param name="sum_wrapped_joint_states">true</param> |
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</hardware> |
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<joint name="left_arm_joint1"> |
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<command_interface name="position"/> |
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<command_interface name="effort"/> |
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<command_interface name="velocity"/> |
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<state_interface name="position"/> |
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<state_interface name="effort"/> |
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<state_interface name="velocity"/> |
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<param name="min">-2.618</param> |
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<param name="max">2.618</param> |
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<param name="type">revolute</param> |
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<param name="max_effort">100</param> |
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</joint> |
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<joint name="left_arm_joint2"> |
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<command_interface name="position"/> |
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<command_interface name="effort"/> |
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<command_interface name="velocity"/> |
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<state_interface name="position"/> |
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<state_interface name="effort"/> |
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<state_interface name="velocity"/> |
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<param name="min">0</param> |
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<param name="max">3.14</param> |
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<param name="type">revolute</param> |
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<param name="max_effort">100</param> |
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</joint> |
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<joint name="left_arm_joint3"> |
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<command_interface name="position"/> |
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<command_interface name="effort"/> |
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<command_interface name="velocity"/> |
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<state_interface name="position"/> |
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<state_interface name="effort"/> |
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<state_interface name="velocity"/> |
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<param name="min">-2.697</param> |
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<param name="max">0</param> |
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<param name="type">revolute</param> |
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<param name="max_effort">100</param> |
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</joint> |
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<joint name="left_arm_joint4"> |
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<command_interface name="position"/> |
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<command_interface name="effort"/> |
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<command_interface name="velocity"/> |
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<state_interface name="position"/> |
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<state_interface name="effort"/> |
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<state_interface name="velocity"/> |
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<param name="min">-1.832</param> |
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<param name="max">1.832</param> |
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<param name="type">revolute</param> |
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<param name="max_effort">100</param> |
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</joint> |
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<joint name="left_arm_joint5"> |
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<command_interface name="position"/> |
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<command_interface name="effort"/> |
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<command_interface name="velocity"/> |
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<state_interface name="position"/> |
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<state_interface name="effort"/> |
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<state_interface name="velocity"/> |
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<param name="min">-1.22</param> |
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<param name="max">1.22</param> |
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<param name="type">revolute</param> |
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<param name="max_effort">100</param> |
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</joint> |
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<joint name="left_arm_joint6"> |
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<command_interface name="position"/> |
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<command_interface name="effort"/> |
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<command_interface name="velocity"/> |
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<state_interface name="position"/> |
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<state_interface name="effort"/> |
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<state_interface name="velocity"/> |
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<param name="min">-3.14</param> |
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<param name="max">3.14</param> |
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<param name="type">revolute</param> |
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<param name="max_effort">100</param> |
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</joint> |
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<joint name="left_arm_joint7"> |
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<command_interface name="position"/> |
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<command_interface name="effort"/> |
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<command_interface name="velocity"/> |
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<state_interface name="position"/> |
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<state_interface name="effort"/> |
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<state_interface name="velocity"/> |
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<param name="min">0</param> |
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<param name="max">0.04</param> |
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<param name="type">prismatic</param> |
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<param name="max_effort">10</param> |
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</joint> |
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<joint name="left_arm_joint8"> |
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<command_interface name="position"/> |
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<command_interface name="effort"/> |
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<command_interface name="velocity"/> |
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<state_interface name="position"/> |
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<state_interface name="effort"/> |
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<state_interface name="velocity"/> |
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<param name="min">-0.04</param> |
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<param name="max">0</param> |
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<param name="type">prismatic</param> |
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<param name="max_effort">10</param> |
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</joint> |
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</ros2_control> |
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<ros2_control name="right_arm_PiperMockHardwareSystem" type="system"> |
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<hardware> |
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<plugin>topic_based_ros2_control/TopicBasedSystem</plugin> |
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<param name="joint_commands_topic">/right_arm/right_arm_ros2_control_joint_command_topic</param> |
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<param name="joint_states_topic">/right_arm/right_arm_ros2_control_joint_state_topic</param> |
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<param name="sum_wrapped_joint_states">true</param> |
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</hardware> |
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<joint name="right_arm_joint1"> |
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<command_interface name="position"/> |
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<command_interface name="effort"/> |
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<command_interface name="velocity"/> |
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<state_interface name="position"/> |
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<state_interface name="effort"/> |
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<state_interface name="velocity"/> |
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<param name="min">-2.618</param> |
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<param name="max">2.618</param> |
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<param name="type">revolute</param> |
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<param name="max_effort">100</param> |
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</joint> |
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<joint name="right_arm_joint2"> |
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<command_interface name="position"/> |
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<command_interface name="effort"/> |
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<command_interface name="velocity"/> |
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<state_interface name="position"/> |
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<state_interface name="effort"/> |
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<state_interface name="velocity"/> |
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<param name="min">0</param> |
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<param name="max">3.14</param> |
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<param name="type">revolute</param> |
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<param name="max_effort">100</param> |
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</joint> |
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<joint name="right_arm_joint3"> |
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<command_interface name="position"/> |
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<command_interface name="effort"/> |
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<command_interface name="velocity"/> |
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<state_interface name="position"/> |
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<state_interface name="effort"/> |
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<state_interface name="velocity"/> |
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<param name="min">-2.697</param> |
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<param name="max">0</param> |
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<param name="type">revolute</param> |
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<param name="max_effort">100</param> |
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</joint> |
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<joint name="right_arm_joint4"> |
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<command_interface name="position"/> |
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<command_interface name="effort"/> |
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<command_interface name="velocity"/> |
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<state_interface name="position"/> |
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<state_interface name="effort"/> |
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<state_interface name="velocity"/> |
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<param name="min">-1.832</param> |
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<param name="max">1.832</param> |
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<param name="type">revolute</param> |
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<param name="max_effort">100</param> |
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</joint> |
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<joint name="right_arm_joint5"> |
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<command_interface name="position"/> |
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<command_interface name="effort"/> |
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<command_interface name="velocity"/> |
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<state_interface name="position"/> |
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<state_interface name="effort"/> |
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<state_interface name="velocity"/> |
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<param name="min">-1.22</param> |
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<param name="max">1.22</param> |
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<param name="type">revolute</param> |
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<param name="max_effort">100</param> |
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</joint> |
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<joint name="right_arm_joint6"> |
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<command_interface name="position"/> |
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<command_interface name="effort"/> |
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<command_interface name="velocity"/> |
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<state_interface name="position"/> |
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<state_interface name="effort"/> |
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<state_interface name="velocity"/> |
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<param name="min">-3.14</param> |
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<param name="max">3.14</param> |
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<param name="type">revolute</param> |
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<param name="max_effort">100</param> |
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</joint> |
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<joint name="right_arm_joint7"> |
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<command_interface name="position"/> |
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<command_interface name="effort"/> |
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<command_interface name="velocity"/> |
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<state_interface name="position"/> |
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<state_interface name="effort"/> |
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<state_interface name="velocity"/> |
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<param name="min">0</param> |
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<param name="max">0.04</param> |
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<param name="type">prismatic</param> |
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<param name="max_effort">10</param> |
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</joint> |
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<joint name="right_arm_joint8"> |
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<command_interface name="position"/> |
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<command_interface name="effort"/> |
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<command_interface name="velocity"/> |
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<state_interface name="position"/> |
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<state_interface name="effort"/> |
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<state_interface name="velocity"/> |
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<param name="min">-0.04</param> |
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<param name="max">0</param> |
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<param name="type">prismatic</param> |
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<param name="max_effort">10</param> |
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</joint> |
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</ros2_control> |
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<joint name="left_arm_fixed_base_joint" type="fixed"> |
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<parent link="left_base"/> |
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<child link="left_arm_base_link"/> |
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</joint> |
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<link name="left_arm_base_link"> |
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<inertial> |
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<origin rpy="0 0 0" xyz="-0.00979274765955341 1.82905827587138E-06 0.0410100126360189"/> |
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<mass value="0.162548567403693"/> |
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<inertia ixx="0.000226596924525071" ixy="-7.33972270153965E-08" ixz="2.13249977802622E-06" iyy="0.000269444772561524" iyz="8.15169009611054E-09" izz="0.000222318258878636"/> |
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</inertial> |
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<visual> |
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<origin rpy="0 0 0" xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="file:////home/nuc1/piper_ws/install/piper_description/share/piper_description/meshes/base_link.dae"/> |
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</geometry> |
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<material name=""> |
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<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/> |
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</material> |
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</visual> |
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<collision> |
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<origin rpy="0 0 0" xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="file:////home/nuc1/piper_ws/install/piper_description/share/piper_description/meshes/base_link.STL"/> |
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</geometry> |
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</collision> |
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</link> |
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<link name="left_arm_link1"> |
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<inertial> |
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<origin rpy="0 0 0" xyz="0.00131676031927024 0.000310288842008612 -0.00922874512303437"/> |
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<mass value="0.0978679932242825"/> |
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<inertia ixx="7.76684558296782E-05" ixy="1.09084650459924E-07" ixz="-1.9748053243241E-06" iyy="9.24967780161547E-05" iyz="9.91284646834582E-07" izz="8.24589062407807E-05"/> |
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</inertial> |
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<visual> |
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<origin rpy="0 0 0" xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="file:////home/nuc1/piper_ws/install/piper_description/share/piper_description/meshes/link1.dae"/> |
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</geometry> |
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<material name=""> |
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<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/> |
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</material> |
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</visual> |
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<collision> |
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<origin rpy="0 0 0" xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="file:////home/nuc1/piper_ws/install/piper_description/share/piper_description/meshes/link1.STL"/> |
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</geometry> |
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</collision> |
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</link> |
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<joint name="left_arm_joint1" type="revolute"> |
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<origin rpy="0 0 -1.5708" xyz="0 0 0.123"/> |
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<parent link="left_arm_base_link"/> |
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<child link="left_arm_link1"/> |
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<axis xyz="0 0 1"/> |
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<limit effort="100" lower="-2.618" upper="2.618" velocity="3"/> |
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</joint> |
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<link name="left_arm_link2"> |
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<inertial> |
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<origin rpy="0 0 0" xyz="0.148793602378802 -0.00242026983944119 0.00175154638467948"/> |
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<mass value="0.290888938633388"/> |
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<inertia ixx="0.000148959640166183" ixy="-7.37750384371657E-05" ixz="-9.68688405196236E-07" iyy="0.00172800946632652" iyz="-1.09692225564224E-06" izz="0.0017754628344594"/> |
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</inertial> |
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<visual> |
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<origin rpy="0 0 0" xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="file:////home/nuc1/piper_ws/install/piper_description/share/piper_description/meshes/link2.dae"/> |
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</geometry> |
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<material name=""> |
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<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/> |
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</material> |
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</visual> |
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<collision> |
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<origin rpy="0 0 0" xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="file:////home/nuc1/piper_ws/install/piper_description/share/piper_description/meshes/link2.STL"/> |
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</geometry> |
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</collision> |
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</link> |
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<joint name="left_arm_joint2" type="revolute"> |
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<origin rpy="1.5708 0 -1.5708" xyz="0 0 0"/> |
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<parent link="left_arm_link1"/> |
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<child link="left_arm_link2"/> |
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<axis xyz="0 0 1"/> |
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<limit effort="100" lower="0" upper="3.14" velocity="3"/> |
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</joint> |
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<link name="left_arm_link3"> |
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<inertial> |
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<origin rpy="0 0 0" xyz="-0.0996835215213704 0.0349477226691318 0.000508025815507312"/> |
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<mass value="0.290847697793211"/> |
|
|
<inertia ixx="0.000107879011637167" ixy="2.92669521203626E-05" ixz="6.825922326238E-07" iyy="0.000214751671792086" iyz="-7.78469047878196E-07" izz="0.000241923439340319"/> |
|
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</inertial> |
|
|
<visual> |
|
|
<origin rpy="0 0 0" xyz="0 0 0"/> |
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|
<geometry> |
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<mesh filename="file:////home/nuc1/piper_ws/install/piper_description/share/piper_description/meshes/link3.dae"/> |
|
|
</geometry> |
|
|
<material name=""> |
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|
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/> |
|
|
</material> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin rpy="0 0 0" xyz="0 0 0"/> |
|
|
<geometry> |
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|
<mesh filename="file:////home/nuc1/piper_ws/install/piper_description/share/piper_description/meshes/link3.STL"/> |
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</geometry> |
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</collision> |
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</link> |
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|
|
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<joint name="left_arm_joint3" type="revolute"> |
|
|
<origin rpy="0 0 0.10095" xyz="0.28358 0.028726 0"/> |
|
|
<parent link="left_arm_link2"/> |
|
|
<child link="left_arm_link3"/> |
|
|
<axis xyz="0 0 1"/> |
|
|
<limit effort="100" lower="-2.697" upper="0" velocity="3"/> |
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</joint> |
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|
|
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<link name="left_arm_link4"> |
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|
<inertial> |
|
|
<origin rpy="0 0 0" xyz="0.000276464622387979 -0.00102803669324875 -0.00472830700561663"/> |
|
|
<mass value="0.127087348341362"/> |
|
|
<inertia ixx="3.82011730423416E-05" ixy="-4.92358350897513E-08" ixz="4.89589432973119E-08" iyy="4.87048555222578E-05" iyz="6.70802942500512E-08" izz="4.10592077565559E-05"/> |
|
|
</inertial> |
|
|
<visual> |
|
|
<origin rpy="0 0 0" xyz="0 0 0"/> |
|
|
<geometry> |
|
|
<mesh filename="file:////home/nuc1/piper_ws/install/piper_description/share/piper_description/meshes/link4.dae"/> |
|
|
</geometry> |
|
|
<material name=""> |
|
|
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/> |
|
|
</material> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin rpy="0 0 0" xyz="0 0 0"/> |
|
|
<geometry> |
|
|
<mesh filename="file:////home/nuc1/piper_ws/install/piper_description/share/piper_description/meshes/link4.STL"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
</link> |
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|
|
|
|
<joint name="left_arm_joint4" type="revolute"> |
|
|
<origin rpy="-1.5708 0 1.3826" xyz="-0.24221 0.068514 0"/> |
|
|
<parent link="left_arm_link3"/> |
|
|
<child link="left_arm_link4"/> |
|
|
<axis xyz="0 0 1"/> |
|
|
<limit effort="100" lower="-1.832" upper="1.832" velocity="3"/> |
|
|
</joint> |
|
|
|
|
|
<link name="left_arm_link5"> |
|
|
<inertial> |
|
|
<origin rpy="0 0 0" xyz="8.82262433516967E-05 0.0566829014808256 -0.00196119720482461"/> |
|
|
<mass value="0.144711242639457"/> |
|
|
<inertia ixx="4.39644313662493E-05" ixy="-3.59259686444846E-08" ixz="-1.89747741386183E-08" iyy="5.63173920951307E-05" iyz="-2.1540716689785E-07" izz="4.88713664675268E-05"/> |
|
|
</inertial> |
|
|
<visual> |
|
|
<origin rpy="0 0 0" xyz="0 0 0"/> |
|
|
<geometry> |
|
|
<mesh filename="file:////home/nuc1/piper_ws/install/piper_description/share/piper_description/meshes/link5.dae"/> |
|
|
</geometry> |
|
|
<material name=""> |
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<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/> |
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</material> |
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</visual> |
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<collision> |
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<origin rpy="0 0 0" xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="file:////home/nuc1/piper_ws/install/piper_description/share/piper_description/meshes/link5.STL"/> |
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</geometry> |
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</collision> |
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</link> |
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|
|
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<joint name="left_arm_joint5" type="revolute"> |
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|
<origin rpy="1.5708 0 0" xyz="0 0 0"/> |
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|
<parent link="left_arm_link4"/> |
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|
<child link="left_arm_link5"/> |
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|
<axis xyz="0 0 1"/> |
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|
<limit effort="100" lower="-1.22" upper="1.22" velocity="3"/> |
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</joint> |
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|
|
|
<link name="left_arm_link6"> |
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<inertial> |
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<origin rpy="0 0 0" xyz="0.00103120214523473 0.0121761387587524 0.0315480874960164"/> |
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<mass value="0.195187143240719"/> |
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<inertia ixx="6.43790256535539E-05" ixy="-1.2366166157046E-06" ixz="1.97664606328472E-07" iyy="0.000126146396374301" iyz="2.41157078516408E-06" izz="0.000154087076816444"/> |
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</inertial> |
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<visual> |
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<origin rpy="0 0 1.5708" xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="file:////home/nuc1/piper_ws/install/piper_description/share/piper_description/meshes/link6.dae"/> |
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</geometry> |
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<material name=""> |
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<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/> |
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</material> |
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</visual> |
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<collision> |
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<origin rpy="0 0 0" xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="file:////home/nuc1/piper_ws/install/piper_description/share/piper_description/meshes/link6_1.STL"/> |
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</geometry> |
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</collision> |
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</link> |
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<joint name="left_arm_joint6" type="revolute"> |
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|
<origin rpy="-1.5708 -3.1415926 0" xyz="0 0.091 0.0014165"/> |
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|
<parent link="left_arm_link5"/> |
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<child link="left_arm_link6"/> |
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|
<axis xyz="0 0 1"/> |
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<limit effort="100" lower="-3.14" upper="3.14" velocity="3"/> |
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</joint> |
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<link name="left_arm_link7"> |
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<inertial> |
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<origin rpy="0 0 0" xyz="-0.000277778383727112 -0.0467673043650824 -0.00921029491873201"/> |
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<mass value="0.02648229234527"/> |
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<inertia ixx="9.99787479924589E-06" ixy="-1.57548495096104E-07" ixz="-2.71342775003487E-08" iyy="6.1795212293655E-06" iyz="-1.58939803580081E-06" izz="1.42102717246564E-05"/> |
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</inertial> |
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<visual> |
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<origin rpy="0 0 0" xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="file:////home/nuc1/piper_ws/install/piper_description/share/piper_description/meshes/link7.dae"/> |
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</geometry> |
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<material name=""> |
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<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/> |
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</material> |
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</visual> |
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<collision> |
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<origin rpy="0 0 0" xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="file:////home/nuc1/piper_ws/install/piper_description/share/piper_description/meshes/link7.STL"/> |
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</geometry> |
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</collision> |
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</link> |
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|
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<joint name="left_arm_joint7" type="prismatic"> |
|
|
<origin rpy="1.5708 0 3.1415926" xyz="0 0 0.13503"/> |
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|
<parent link="left_arm_link6"/> |
|
|
<child link="left_arm_link7"/> |
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|
<axis xyz="0 0 -1"/> |
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|
<limit effort="10" lower="0" upper="0.04" velocity="1"/> |
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|
</joint> |
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|
|
<link name="left_arm_link8"> |
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<inertial> |
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<origin rpy="0 0 0" xyz="0.000277816920932317 0.0467673824063769 -0.00921030054508036"/> |
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<mass value="0.0264822021416248"/> |
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<inertia ixx="9.99779119357223E-06" ixy="-1.57542283433504E-07" ixz="2.71367446701359E-08" iyy="6.17952441557932E-06" iyz="1.58939319453383E-06" izz="1.4210192754512E-05"/> |
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</inertial> |
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<visual> |
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|
<origin rpy="0 0 0" xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="file:////home/nuc1/piper_ws/install/piper_description/share/piper_description/meshes/link8.dae"/> |
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</geometry> |
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<material name=""> |
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<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/> |
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</material> |
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</visual> |
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<collision> |
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<origin rpy="0 0 0" xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="file:////home/nuc1/piper_ws/install/piper_description/share/piper_description/meshes/link8.STL"/> |
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|
</geometry> |
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|
</collision> |
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</link> |
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|
|
|
<joint name="left_arm_joint8" type="prismatic"> |
|
|
<origin rpy="-1.5708 0 3.1415926" xyz="0 0 0.13503"/> |
|
|
<parent link="left_arm_link6"/> |
|
|
<child link="left_arm_link8"/> |
|
|
<axis xyz="0 0 1"/> |
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|
<limit effort="10" lower="-0.04" upper="0" velocity="1"/> |
|
|
</joint> |
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|
|
|
|
<link name="left_arm_end_effector"> |
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|
<inertial> |
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|
<origin rpy="0 0 0" xyz="0 0 0"/> |
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|
<mass value="0.001"/> |
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|
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/> |
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|
</inertial> |
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|
|
|
</link> |
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|
|
|
|
<joint name="left_arm_end_effector_fixed_joint" type="fixed"> |
|
|
<origin rpy="0 -1.5708 0" xyz="0 0 0.13503"/> |
|
|
<parent link="left_arm_link6"/> |
|
|
<child link="left_arm_end_effector"/> |
|
|
</joint> |
|
|
<transmission name="left_arm_tran1"> |
|
|
<type>transmission_interface/SimpleTransmission</type> |
|
|
<joint name="left_arm_joint1"> |
|
|
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> |
|
|
</joint> |
|
|
<actuator name="left_arm_motor1"> |
|
|
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> |
|
|
<mechanicalReduction>1</mechanicalReduction> |
|
|
</actuator> |
|
|
</transmission> |
|
|
<transmission name="left_arm_tran2"> |
|
|
<type>transmission_interface/SimpleTransmission</type> |
|
|
<joint name="left_arm_joint2"> |
|
|
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> |
|
|
</joint> |
|
|
<actuator name="left_arm_motor2"> |
|
|
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> |
|
|
<mechanicalReduction>1</mechanicalReduction> |
|
|
</actuator> |
|
|
</transmission> |
|
|
<transmission name="left_arm_tran3"> |
|
|
<type>transmission_interface/SimpleTransmission</type> |
|
|
<joint name="left_arm_joint3"> |
|
|
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> |
|
|
</joint> |
|
|
<actuator name="left_arm_motor3"> |
|
|
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> |
|
|
<mechanicalReduction>1</mechanicalReduction> |
|
|
</actuator> |
|
|
</transmission> |
|
|
<transmission name="left_arm_tran4"> |
|
|
<type>transmission_interface/SimpleTransmission</type> |
|
|
<joint name="left_arm_joint4"> |
|
|
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> |
|
|
</joint> |
|
|
<actuator name="left_arm_motor4"> |
|
|
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> |
|
|
<mechanicalReduction>1</mechanicalReduction> |
|
|
</actuator> |
|
|
</transmission> |
|
|
<transmission name="left_arm_tran5"> |
|
|
<type>transmission_interface/SimpleTransmission</type> |
|
|
<joint name="left_arm_joint5"> |
|
|
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> |
|
|
</joint> |
|
|
<actuator name="left_arm_motor5"> |
|
|
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> |
|
|
<mechanicalReduction>1</mechanicalReduction> |
|
|
</actuator> |
|
|
</transmission> |
|
|
<transmission name="left_arm_tran6"> |
|
|
<type>transmission_interface/SimpleTransmission</type> |
|
|
<joint name="left_arm_joint6"> |
|
|
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> |
|
|
</joint> |
|
|
<actuator name="left_arm_motor6"> |
|
|
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> |
|
|
<mechanicalReduction>1</mechanicalReduction> |
|
|
</actuator> |
|
|
</transmission> |
|
|
<transmission name="left_arm_tran7"> |
|
|
<type>transmission_interface/SimpleTransmission</type> |
|
|
<joint name="left_arm_joint7"> |
|
|
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> |
|
|
</joint> |
|
|
<actuator name="left_arm_motor7"> |
|
|
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> |
|
|
<mechanicalReduction>1</mechanicalReduction> |
|
|
</actuator> |
|
|
</transmission> |
|
|
<transmission name="left_arm_tran8"> |
|
|
<type>transmission_interface/SimpleTransmission</type> |
|
|
<joint name="left_arm_joint8"> |
|
|
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> |
|
|
</joint> |
|
|
<actuator name="left_arm_motor8"> |
|
|
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> |
|
|
<mechanicalReduction>1</mechanicalReduction> |
|
|
</actuator> |
|
|
</transmission> |
|
|
|
|
|
<joint name="right_arm_fixed_base_joint" type="fixed"> |
|
|
<parent link="right_base"/> |
|
|
<child link="right_arm_base_link"/> |
|
|
</joint> |
|
|
|
|
|
<link name="right_arm_base_link"> |
|
|
<inertial> |
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|
<origin rpy="0 0 0" xyz="-0.00979274765955341 1.82905827587138E-06 0.0410100126360189"/> |
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<mass value="0.162548567403693"/> |
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<inertia ixx="0.000226596924525071" ixy="-7.33972270153965E-08" ixz="2.13249977802622E-06" iyy="0.000269444772561524" iyz="8.15169009611054E-09" izz="0.000222318258878636"/> |
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|
</inertial> |
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|
<visual> |
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|
<origin rpy="0 0 0" xyz="0 0 0"/> |
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|
<geometry> |
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|
<mesh filename="file:////home/nuc1/piper_ws/install/piper_description/share/piper_description/meshes/base_link.dae"/> |
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|
</geometry> |
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<material name=""> |
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<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/> |
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</material> |
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</visual> |
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<collision> |
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<origin rpy="0 0 0" xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="file:////home/nuc1/piper_ws/install/piper_description/share/piper_description/meshes/base_link.STL"/> |
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|
</geometry> |
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|
</collision> |
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|
</link> |
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|
|
|
<link name="right_arm_link1"> |
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<inertial> |
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<origin rpy="0 0 0" xyz="0.00131676031927024 0.000310288842008612 -0.00922874512303437"/> |
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<mass value="0.0978679932242825"/> |
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<inertia ixx="7.76684558296782E-05" ixy="1.09084650459924E-07" ixz="-1.9748053243241E-06" iyy="9.24967780161547E-05" iyz="9.91284646834582E-07" izz="8.24589062407807E-05"/> |
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</inertial> |
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<visual> |
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<origin rpy="0 0 0" xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="file:////home/nuc1/piper_ws/install/piper_description/share/piper_description/meshes/link1.dae"/> |
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</geometry> |
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<material name=""> |
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<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/> |
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</material> |
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</visual> |
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<collision> |
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<origin rpy="0 0 0" xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="file:////home/nuc1/piper_ws/install/piper_description/share/piper_description/meshes/link1.STL"/> |
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|
</geometry> |
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</collision> |
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|
</link> |
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|
|
|
<joint name="right_arm_joint1" type="revolute"> |
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|
<origin rpy="0 0 -1.5708" xyz="0 0 0.123"/> |
|
|
<parent link="right_arm_base_link"/> |
|
|
<child link="right_arm_link1"/> |
|
|
<axis xyz="0 0 1"/> |
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|
<limit effort="100" lower="-2.618" upper="2.618" velocity="3"/> |
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|
</joint> |
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|
<link name="right_arm_link2"> |
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<inertial> |
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<origin rpy="0 0 0" xyz="0.148793602378802 -0.00242026983944119 0.00175154638467948"/> |
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<mass value="0.290888938633388"/> |
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<inertia ixx="0.000148959640166183" ixy="-7.37750384371657E-05" ixz="-9.68688405196236E-07" iyy="0.00172800946632652" iyz="-1.09692225564224E-06" izz="0.0017754628344594"/> |
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</inertial> |
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<visual> |
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<origin rpy="0 0 0" xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="file:////home/nuc1/piper_ws/install/piper_description/share/piper_description/meshes/link2.dae"/> |
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</geometry> |
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<material name=""> |
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<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/> |
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</material> |
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</visual> |
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<collision> |
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<origin rpy="0 0 0" xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="file:////home/nuc1/piper_ws/install/piper_description/share/piper_description/meshes/link2.STL"/> |
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</geometry> |
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</collision> |
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</link> |
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|
|
|
<joint name="right_arm_joint2" type="revolute"> |
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|
<origin rpy="1.5708 0 -1.5708" xyz="0 0 0"/> |
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|
<parent link="right_arm_link1"/> |
|
|
<child link="right_arm_link2"/> |
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|
<axis xyz="0 0 1"/> |
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|
<limit effort="100" lower="0" upper="3.14" velocity="3"/> |
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|
</joint> |
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|
|
<link name="right_arm_link3"> |
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<inertial> |
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<origin rpy="0 0 0" xyz="-0.0996835215213704 0.0349477226691318 0.000508025815507312"/> |
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<mass value="0.290847697793211"/> |
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<inertia ixx="0.000107879011637167" ixy="2.92669521203626E-05" ixz="6.825922326238E-07" iyy="0.000214751671792086" iyz="-7.78469047878196E-07" izz="0.000241923439340319"/> |
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</inertial> |
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<visual> |
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<origin rpy="0 0 0" xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="file:////home/nuc1/piper_ws/install/piper_description/share/piper_description/meshes/link3.dae"/> |
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</geometry> |
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<material name=""> |
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<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/> |
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</material> |
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</visual> |
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<collision> |
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<origin rpy="0 0 0" xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="file:////home/nuc1/piper_ws/install/piper_description/share/piper_description/meshes/link3.STL"/> |
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</geometry> |
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</collision> |
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</link> |
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|
|
|
<joint name="right_arm_joint3" type="revolute"> |
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|
<origin rpy="0 0 0.10095" xyz="0.28358 0.028726 0"/> |
|
|
<parent link="right_arm_link2"/> |
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|
<child link="right_arm_link3"/> |
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|
<axis xyz="0 0 1"/> |
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<limit effort="100" lower="-2.697" upper="0" velocity="3"/> |
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|
</joint> |
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|
|
<link name="right_arm_link4"> |
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<inertial> |
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<origin rpy="0 0 0" xyz="0.000276464622387979 -0.00102803669324875 -0.00472830700561663"/> |
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<mass value="0.127087348341362"/> |
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<inertia ixx="3.82011730423416E-05" ixy="-4.92358350897513E-08" ixz="4.89589432973119E-08" iyy="4.87048555222578E-05" iyz="6.70802942500512E-08" izz="4.10592077565559E-05"/> |
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</inertial> |
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<visual> |
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<origin rpy="0 0 0" xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="file:////home/nuc1/piper_ws/install/piper_description/share/piper_description/meshes/link4.dae"/> |
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</geometry> |
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<material name=""> |
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<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/> |
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</material> |
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</visual> |
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<collision> |
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<origin rpy="0 0 0" xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="file:////home/nuc1/piper_ws/install/piper_description/share/piper_description/meshes/link4.STL"/> |
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|
</geometry> |
|
|
</collision> |
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|
</link> |
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|
|
|
|
<joint name="right_arm_joint4" type="revolute"> |
|
|
<origin rpy="-1.5708 0 1.3826" xyz="-0.24221 0.068514 0"/> |
|
|
<parent link="right_arm_link3"/> |
|
|
<child link="right_arm_link4"/> |
|
|
<axis xyz="0 0 1"/> |
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|
<limit effort="100" lower="-1.832" upper="1.832" velocity="3"/> |
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|
</joint> |
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|
|
|
<link name="right_arm_link5"> |
|
|
<inertial> |
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<origin rpy="0 0 0" xyz="8.82262433516967E-05 0.0566829014808256 -0.00196119720482461"/> |
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<mass value="0.144711242639457"/> |
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<visual> |
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|
<origin rpy="0 0 0" xyz="0 0 0"/> |
|
|
<geometry> |
|
|
<mesh filename="file:////home/nuc1/piper_ws/install/piper_description/share/piper_description/meshes/link5.dae"/> |
|
|
</geometry> |
|
|
<material name=""> |
|
|
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/> |
|
|
</material> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin rpy="0 0 0" xyz="0 0 0"/> |
|
|
<geometry> |
|
|
<mesh filename="file:////home/nuc1/piper_ws/install/piper_description/share/piper_description/meshes/link5.STL"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
</link> |
|
|
|
|
|
<joint name="right_arm_joint5" type="revolute"> |
|
|
<origin rpy="1.5708 0 0" xyz="0 0 0"/> |
|
|
<parent link="right_arm_link4"/> |
|
|
<child link="right_arm_link5"/> |
|
|
<axis xyz="0 0 1"/> |
|
|
<limit effort="100" lower="-1.22" upper="1.22" velocity="3"/> |
|
|
</joint> |
|
|
|
|
|
<link name="right_arm_link6"> |
|
|
<inertial> |
|
|
<origin rpy="0 0 0" xyz="0.00103120214523473 0.0121761387587524 0.0315480874960164"/> |
|
|
<mass value="0.195187143240719"/> |
|
|
<inertia ixx="6.43790256535539E-05" ixy="-1.2366166157046E-06" ixz="1.97664606328472E-07" iyy="0.000126146396374301" iyz="2.41157078516408E-06" izz="0.000154087076816444"/> |
|
|
</inertial> |
|
|
<visual> |
|
|
<origin rpy="0 0 1.5708" xyz="0 0 0"/> |
|
|
<geometry> |
|
|
<mesh filename="file:////home/nuc1/piper_ws/install/piper_description/share/piper_description/meshes/link6.dae"/> |
|
|
</geometry> |
|
|
<material name=""> |
|
|
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/> |
|
|
</material> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin rpy="0 0 0" xyz="0 0 0"/> |
|
|
<geometry> |
|
|
<mesh filename="file:////home/nuc1/piper_ws/install/piper_description/share/piper_description/meshes/link6_1.STL"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
</link> |
|
|
|
|
|
<joint name="right_arm_joint6" type="revolute"> |
|
|
<origin rpy="-1.5708 -3.1415926 0" xyz="0 0.091 0.0014165"/> |
|
|
<parent link="right_arm_link5"/> |
|
|
<child link="right_arm_link6"/> |
|
|
<axis xyz="0 0 1"/> |
|
|
<limit effort="100" lower="-3.14" upper="3.14" velocity="3"/> |
|
|
</joint> |
|
|
|
|
|
<link name="right_arm_link7"> |
|
|
<inertial> |
|
|
<origin rpy="0 0 0" xyz="-0.000277778383727112 -0.0467673043650824 -0.00921029491873201"/> |
|
|
<mass value="0.02648229234527"/> |
|
|
<inertia ixx="9.99787479924589E-06" ixy="-1.57548495096104E-07" ixz="-2.71342775003487E-08" iyy="6.1795212293655E-06" iyz="-1.58939803580081E-06" izz="1.42102717246564E-05"/> |
|
|
</inertial> |
|
|
<visual> |
|
|
<origin rpy="0 0 0" xyz="0 0 0"/> |
|
|
<geometry> |
|
|
<mesh filename="file:////home/nuc1/piper_ws/install/piper_description/share/piper_description/meshes/link7.dae"/> |
|
|
</geometry> |
|
|
<material name=""> |
|
|
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/> |
|
|
</material> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin rpy="0 0 0" xyz="0 0 0"/> |
|
|
<geometry> |
|
|
<mesh filename="file:////home/nuc1/piper_ws/install/piper_description/share/piper_description/meshes/link7.STL"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
</link> |
|
|
|
|
|
<joint name="right_arm_joint7" type="prismatic"> |
|
|
<origin rpy="1.5708 0 3.1415926" xyz="0 0 0.13503"/> |
|
|
<parent link="right_arm_link6"/> |
|
|
<child link="right_arm_link7"/> |
|
|
<axis xyz="0 0 -1"/> |
|
|
<limit effort="10" lower="0" upper="0.04" velocity="1"/> |
|
|
</joint> |
|
|
|
|
|
<link name="right_arm_link8"> |
|
|
<inertial> |
|
|
<origin rpy="0 0 0" xyz="0.000277816920932317 0.0467673824063769 -0.00921030054508036"/> |
|
|
<mass value="0.0264822021416248"/> |
|
|
<inertia ixx="9.99779119357223E-06" ixy="-1.57542283433504E-07" ixz="2.71367446701359E-08" iyy="6.17952441557932E-06" iyz="1.58939319453383E-06" izz="1.4210192754512E-05"/> |
|
|
</inertial> |
|
|
<visual> |
|
|
<origin rpy="0 0 0" xyz="0 0 0"/> |
|
|
<geometry> |
|
|
<mesh filename="file:////home/nuc1/piper_ws/install/piper_description/share/piper_description/meshes/link8.dae"/> |
|
|
</geometry> |
|
|
<material name=""> |
|
|
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/> |
|
|
</material> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin rpy="0 0 0" xyz="0 0 0"/> |
|
|
<geometry> |
|
|
<mesh filename="file:////home/nuc1/piper_ws/install/piper_description/share/piper_description/meshes/link8.STL"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
</link> |
|
|
|
|
|
<joint name="right_arm_joint8" type="prismatic"> |
|
|
<origin rpy="-1.5708 0 3.1415926" xyz="0 0 0.13503"/> |
|
|
<parent link="right_arm_link6"/> |
|
|
<child link="right_arm_link8"/> |
|
|
<axis xyz="0 0 1"/> |
|
|
<limit effort="10" lower="-0.04" upper="0" velocity="1"/> |
|
|
</joint> |
|
|
|
|
|
<link name="right_arm_end_effector"> |
|
|
<inertial> |
|
|
<origin rpy="0 0 0" xyz="0 0 0"/> |
|
|
<mass value="0.001"/> |
|
|
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/> |
|
|
</inertial> |
|
|
|
|
|
</link> |
|
|
|
|
|
<joint name="right_arm_end_effector_fixed_joint" type="fixed"> |
|
|
<origin rpy="0 -1.5708 0" xyz="0 0 0.13503"/> |
|
|
<parent link="right_arm_link6"/> |
|
|
<child link="right_arm_end_effector"/> |
|
|
</joint> |
|
|
<transmission name="right_arm_tran1"> |
|
|
<type>transmission_interface/SimpleTransmission</type> |
|
|
<joint name="right_arm_joint1"> |
|
|
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> |
|
|
</joint> |
|
|
<actuator name="right_arm_motor1"> |
|
|
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> |
|
|
<mechanicalReduction>1</mechanicalReduction> |
|
|
</actuator> |
|
|
</transmission> |
|
|
<transmission name="right_arm_tran2"> |
|
|
<type>transmission_interface/SimpleTransmission</type> |
|
|
<joint name="right_arm_joint2"> |
|
|
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> |
|
|
</joint> |
|
|
<actuator name="right_arm_motor2"> |
|
|
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> |
|
|
<mechanicalReduction>1</mechanicalReduction> |
|
|
</actuator> |
|
|
</transmission> |
|
|
<transmission name="right_arm_tran3"> |
|
|
<type>transmission_interface/SimpleTransmission</type> |
|
|
<joint name="right_arm_joint3"> |
|
|
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> |
|
|
</joint> |
|
|
<actuator name="right_arm_motor3"> |
|
|
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> |
|
|
<mechanicalReduction>1</mechanicalReduction> |
|
|
</actuator> |
|
|
</transmission> |
|
|
<transmission name="right_arm_tran4"> |
|
|
<type>transmission_interface/SimpleTransmission</type> |
|
|
<joint name="right_arm_joint4"> |
|
|
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> |
|
|
</joint> |
|
|
<actuator name="right_arm_motor4"> |
|
|
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> |
|
|
<mechanicalReduction>1</mechanicalReduction> |
|
|
</actuator> |
|
|
</transmission> |
|
|
<transmission name="right_arm_tran5"> |
|
|
<type>transmission_interface/SimpleTransmission</type> |
|
|
<joint name="right_arm_joint5"> |
|
|
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> |
|
|
</joint> |
|
|
<actuator name="right_arm_motor5"> |
|
|
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> |
|
|
<mechanicalReduction>1</mechanicalReduction> |
|
|
</actuator> |
|
|
</transmission> |
|
|
<transmission name="right_arm_tran6"> |
|
|
<type>transmission_interface/SimpleTransmission</type> |
|
|
<joint name="right_arm_joint6"> |
|
|
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> |
|
|
</joint> |
|
|
<actuator name="right_arm_motor6"> |
|
|
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> |
|
|
<mechanicalReduction>1</mechanicalReduction> |
|
|
</actuator> |
|
|
</transmission> |
|
|
<transmission name="right_arm_tran7"> |
|
|
<type>transmission_interface/SimpleTransmission</type> |
|
|
<joint name="right_arm_joint7"> |
|
|
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> |
|
|
</joint> |
|
|
<actuator name="right_arm_motor7"> |
|
|
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> |
|
|
<mechanicalReduction>1</mechanicalReduction> |
|
|
</actuator> |
|
|
</transmission> |
|
|
<transmission name="right_arm_tran8"> |
|
|
<type>transmission_interface/SimpleTransmission</type> |
|
|
<joint name="right_arm_joint8"> |
|
|
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> |
|
|
</joint> |
|
|
<actuator name="right_arm_motor8"> |
|
|
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> |
|
|
<mechanicalReduction>1</mechanicalReduction> |
|
|
</actuator> |
|
|
</transmission> |
|
|
</robot> |
|
|
|
