401 lines
14 KiB
XML
401 lines
14 KiB
XML
<?xml version="1.0" ?>
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<!-- =================================================================================== -->
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<!-- | This document was autogenerated by xacro from src/iisy_config/urdf/iisy.urdf | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
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<robot name="iisy">
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<link name="world"/>
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<link name="base_link"/>
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<link name="table">
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<collision>
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<geometry>
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<mesh filename="file:///home/ros/workspace/install/iisy_config/share/iisy_config/stl/table.stl"/>
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</geometry>
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</collision>
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<visual>
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<geometry>
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<mesh filename="file:///home/ros/workspace/install/iisy_config/share/iisy_config/stl/table.stl"/>
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</geometry>
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</visual>
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</link>
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<link name="base_bottom">
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<collision>
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<geometry>
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<mesh filename="file:///home/ros/workspace/install/iisy_config/share/iisy_config/stl/base_bottom_coll.stl"/>
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</geometry>
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</collision>
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<visual>
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<geometry>
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<mesh filename="file:///home/ros/workspace/install/iisy_config/share/iisy_config/stl/base_bottom_low.stl"/>
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</geometry>
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</visual>
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<inertial>
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<origin rpy="0 0 0" xyz="-0.043517 0.000000 0.054914"/>
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<mass value="6"/>
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<inertia ixx="1.277905" ixy="0.0" ixz="0.138279" iyy="3.070705" iyz="0.0" izz="3.284356"/>
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</inertial>
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</link>
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<link name="base_top">
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<collision>
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<origin xyz="0 -0.005 0.08"/>
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<geometry>
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<box size="0.14 0.15 0.16"/>
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</geometry>
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</collision>
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<visual>
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<geometry>
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<mesh filename="file:///home/ros/workspace/install/iisy_config/share/iisy_config/stl/base_top_low.stl"/>
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</geometry>
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</visual>
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<inertial>
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<origin rpy="0 0 0" xyz="0 -0.005 0.08"/>
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<mass value="2"/>
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<inertia ixx="0.32666666666667" ixy="0.0" ixz="0.0" iyy="0.32666666666667" iyz="0.0" izz="0.25"/>
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</inertial>
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</link>
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<link name="link1_full">
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<collision>
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<geometry>
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<mesh filename="file:///home/ros/workspace/install/iisy_config/share/iisy_config/stl/link_1_full_coll.stl"/>
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</geometry>
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</collision>
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<visual>
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<geometry>
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<mesh filename="file:///home/ros/workspace/install/iisy_config/share/iisy_config/stl/link_1_full_low.stl"/>
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</geometry>
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</visual>
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<inertial>
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<origin rpy="0 0 0" xyz="0 -0.050000 0.150000"/>
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<mass value="4"/>
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<inertia ixx="8.266347" ixy="0.0" ixz="0.0" iyy="8.647519" iyz="0.0" izz="8.647519"/>
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</inertial>
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</link>
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<link name="link2_bottom">
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<collision>
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<origin xyz="0 0.07 0.025"/>
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<geometry>
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<box size="0.14 0.14 0.19"/>
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</geometry>
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</collision>
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<visual>
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<geometry>
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<mesh filename="file:///home/ros/workspace/install/iisy_config/share/iisy_config/stl/link_2_bottom_low.stl"/>
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</geometry>
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</visual>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0.07 0.025"/>
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<mass value="2"/>
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<inertia ixx="0.5" ixy="0.0" ixz="0.0" iyy="0.5" iyz="0.0" izz="0.25"/>
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</inertial>
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</link>
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<link name="link2_top">
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<collision>
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<geometry>
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<mesh filename="file:///home/ros/workspace/install/iisy_config/share/iisy_config/stl/link_2_top_coll.stl"/>
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</geometry>
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</collision>
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<visual>
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<geometry>
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<mesh filename="file:///home/ros/workspace/install/iisy_config/share/iisy_config/stl/link_2_top_low.stl"/>
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</geometry>
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</visual>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0.037363 0.086674"/>
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<mass value="2"/>
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<inertia ixx="1.431738" ixy="0.0" ixz="0.0" iyy="1.131426" iyz="-0.342192" izz="0.807202"/>
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</inertial>
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</link>
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<link name="link3_bottom">
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<collision>
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<geometry>
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<mesh filename="file:///home/ros/workspace/install/iisy_config/share/iisy_config/stl/link_3_bottom_coll.stl"/>
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</geometry>
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</collision>
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<visual>
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<geometry>
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<mesh filename="file:///home/ros/workspace/install/iisy_config/share/iisy_config/stl/link_3_bottom_low.stl"/>
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</geometry>
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</visual>
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<inertial>
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<origin rpy="0 0 0" xyz="0 -0.055000 0.021413"/>
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<mass value="2"/>
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<inertia ixx="0.362124" ixy="0.0" ixz="0.0" iyy="0.343531" iyz="0.0" izz="0.283368"/>
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</inertial>
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</link>
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<link name="link3_top">
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<collision>
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<geometry>
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<mesh filename="file:///home/ros/workspace/install/iisy_config/share/iisy_config/stl/link_3_top_coll.stl"/>
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</geometry>
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</collision>
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<visual>
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<geometry>
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<mesh filename="file:///home/ros/workspace/install/iisy_config/share/iisy_config/stl/link_3_top_low.stl"/>
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</geometry>
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</visual>
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<inertial>
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<origin rpy="0 0 0" xyz="0 -0.015462 0.040000"/>
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<mass value="0.8"/>
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<inertia ixx="0.228470" ixy="0.0" ixz="0.0" iyy="0.137641" iyz="0.0" izz="0.252003"/>
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</inertial>
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</link>
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<joint name="world_base_link_fixed" type="fixed">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<parent link="world"/>
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<child link="base_link"/>
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</joint>
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<joint name="base_base_link_fixed" type="fixed">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<parent link="base_link"/>
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<child link="table"/>
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</joint>
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<joint name="table_link_fixed" type="fixed">
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<origin rpy="0 0 0" xyz="0 0 1"/>
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<parent link="table"/>
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<child link="base_bottom"/>
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</joint>
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<joint name="base_rot" type="continuous">
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<origin rpy="0 0 0" xyz="0 0 0.1205"/>
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<parent link="base_bottom"/>
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<child link="base_top"/>
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<axis xyz="0 0 1"/>
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<limit effort="30" velocity="1.7453292519943"/>
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<dynamics damping="10.0" friction="0.1"/>
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</joint>
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<joint name="base_link1_joint" type="revolute">
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<origin rpy="0 0 0" xyz="0 -0.080499 0.092997"/>
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<parent link="base_top"/>
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<child link="link1_full"/>
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<axis xyz="0 1 0"/>
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<limit effort="30" lower="-2.2689280275926" upper="2.4434609527921" velocity="1.7453292519943"/>
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<dynamics damping="10.0" friction="0.1"/>
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</joint>
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<joint name="link1_link2_joint" type="revolute">
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<origin rpy="0 0 0" xyz="0 0 0.3"/>
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<parent link="link1_full"/>
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<child link="link2_bottom"/>
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<axis xyz="0 1 0"/>
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<limit effort="30" lower="-2.6179938779915" upper="2.6179938779915" velocity="1.7453292519943"/>
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<dynamics damping="10.0" friction="0.1"/>
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</joint>
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<joint name="link2_rot" type="continuous">
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<origin rpy="0 0 0" xyz="0 0.080501 0.120502"/>
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<parent link="link2_bottom"/>
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<child link="link2_top"/>
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<axis xyz="0 0 1"/>
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<limit effort="30" velocity="1.7453292519943"/>
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<dynamics damping="10.0" friction="0.1"/>
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</joint>
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<joint name="link2_link3_joint" type="continuous">
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<origin rpy="0 0 0" xyz="0 0.0565 0.178003"/>
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<parent link="link2_top"/>
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<child link="link3_bottom"/>
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<axis xyz="0 1 0"/>
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<limit effort="30" velocity="1.7453292519943"/>
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<dynamics damping="10.0" friction="0.1"/>
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</joint>
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<joint name="link3_rot" type="continuous">
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<origin rpy="0 0 0" xyz="0 -0.055001 0.085501"/>
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<parent link="link3_bottom"/>
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<child link="link3_top"/>
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<axis xyz="0 0 1"/>
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<limit effort="30" velocity="1.7453292519943"/>
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<dynamics damping="10.0" friction="0.1"/>
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</joint>
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<transmission name="trans_base_rot">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="base_rot">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="base_rot_motor">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="trans_base_link1_joint">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="base_link1_joint">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="base_link1_joint_motor">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="trans_link1_link2_joint">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="link1_link2_joint">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="link1_link2_joint_motor">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="trans_link2_rot">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="link2_rot">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="link2_rot_motor">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="trans_link2_link3_joint">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="link2_link3_joint">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="link2_link3_joint_motor">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="trans_link3_rot">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="link3_rot">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="link3_rot_motor">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<ros2_control name="IgnitionSystem" type="system">
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<hardware>
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<plugin>ign_ros2_control/IgnitionSystem</plugin>
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</hardware>
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<!-- define lbr specific state interfaces as sensor, see https://github.com/ros-controls/roadmap/blob/master/design_drafts/components_architecture_and_urdf_examples.md -->
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<sensor name="iisy_state">
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<!-- see KUKA::FRI::LBRState -->
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<state_interface name="sample_time"/>
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<state_interface name="time_stamp_sec"/>
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<state_interface name="time_stamp_nano_sec"/>
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</sensor>
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<!-- define joints and command/state interfaces for each joint -->
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<joint name="base_rot">
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<command_interface name="position">
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<!-- better to use radians as min max first -->
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<param name="min">-1</param>
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<param name="max"> 1</param>
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</command_interface>
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<command_interface name="effort">
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<param name="min">-1</param>
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<param name="max"> 1</param>
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</command_interface>
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<state_interface name="position"/>
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<state_interface name="effort"/>
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<state_interface name="external_torque"/>
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</joint>
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<joint name="base_link1_joint">
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<command_interface name="position">
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<param name="min">-1</param>
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<param name="max"> 1</param>
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</command_interface>
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<command_interface name="effort">
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<param name="min">-1</param>
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<param name="max"> 1</param>
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</command_interface>
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<state_interface name="position"/>
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<state_interface name="effort"/>
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<state_interface name="external_torque"/>
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</joint>
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<joint name="link1_link2_joint">
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<command_interface name="position">
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<param name="min">-1</param>
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<param name="max"> 1</param>
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</command_interface>
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<command_interface name="effort">
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<param name="min">-1</param>
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<param name="max"> 1</param>
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</command_interface>
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<state_interface name="position"/>
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<state_interface name="effort"/>
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<state_interface name="external_torque"/>
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</joint>
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<joint name="link2_rot">
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<command_interface name="position">
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<param name="min">-1</param>
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<param name="max"> 1</param>
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</command_interface>
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<command_interface name="effort">
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<param name="min">-1</param>
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<param name="max"> 1</param>
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</command_interface>
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<state_interface name="position"/>
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<state_interface name="effort"/>
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<state_interface name="external_torque"/>
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</joint>
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<joint name="link2_link3_joint">
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<command_interface name="position">
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<param name="min">-1</param>
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<param name="max"> 1</param>
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</command_interface>
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<command_interface name="effort">
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<param name="min">-1</param>
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<param name="max"> 1</param>
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</command_interface>
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<state_interface name="position"/>
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<state_interface name="effort"/>
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<state_interface name="external_torque"/>
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</joint>
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<joint name="link3_rot">
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<command_interface name="position">
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<param name="min">-1</param>
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<param name="max"> 1</param>
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</command_interface>
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<command_interface name="effort">
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<param name="min">-1</param>
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<param name="max"> 1</param>
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</command_interface>
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<state_interface name="position"/>
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<state_interface name="effort"/>
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<state_interface name="external_torque"/>
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</joint>
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</ros2_control>
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<gazebo>
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<plugin filename="ignition-gazebo-joint-state-publisher-system" name="ignition::gazebo::systems::JointStatePublisher"/>
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</gazebo>
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<gazebo>
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<plugin filename="libign_ros2_control-system.so" name="ign_ros2_control::IgnitionROS2ControlPlugin">
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<parameters>/home/ros/workspace/install/iisy_config/share/iisy_config/config/iisy_controllers.yml</parameters>
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</plugin>
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</gazebo>
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<gazebo reference="base_bottom">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<material>Gazebo/Orange</material>
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</gazebo>
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<gazebo reference="base_top">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<material>Gazebo/Orange</material>
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</gazebo>
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<gazebo reference="link1_full">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<material>Gazebo/Orange</material>
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</gazebo>
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<gazebo reference="link2_bottom">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<material>Gazebo/Orange</material>
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</gazebo>
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<gazebo reference="link2_top">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<material>Gazebo/Orange</material>
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</gazebo>
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<gazebo reference="link3_bottom">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<material>Gazebo/Orange</material>
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</gazebo>
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<gazebo reference="link3_top">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<material>Gazebo/Grey</material>
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</gazebo>
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</robot>
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