Add minimal pick-and-place case with world embedded
This commit is contained in:
parent
209e99a4b3
commit
a87fb8a7ec
64 changed files with 2419 additions and 275 deletions
119
rbs_simulation/worlds/empty_world.sdf
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119
rbs_simulation/worlds/empty_world.sdf
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<sdf version='1.9'>
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<world name='empty'>
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<physics name='1ms' type='ignored'>
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<max_step_size>0.001</max_step_size>
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<real_time_factor>1</real_time_factor>
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<real_time_update_rate>1000</real_time_update_rate>
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</physics>
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<plugin name='ignition::gazebo::systems::Physics' filename='ignition-gazebo-physics-system'/>
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<plugin name='ignition::gazebo::systems::UserCommands' filename='ignition-gazebo-user-commands-system'/>
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<plugin name='ignition::gazebo::systems::SceneBroadcaster' filename='ignition-gazebo-scene-broadcaster-system'/>
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<plugin name='ignition::gazebo::systems::Contact' filename='ignition-gazebo-contact-system'/>
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<gravity>0 0 -9.8</gravity>
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<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
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<atmosphere type='adiabatic'/>
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<scene>
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<ambient>0.4 0.4 0.4 1</ambient>
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<background>0.7 0.7 0.7 1</background>
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<shadows>true</shadows>
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</scene>
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<model name='ground_plane'>
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<static>true</static>
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<link name='link'>
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<collision name='collision'>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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<surface>
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<friction>
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<ode/>
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</friction>
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<bounce/>
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<contact/>
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</surface>
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</collision>
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<visual name='visual'>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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<material>
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<ambient>0.8 0.8 0.8 1</ambient>
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<diffuse>0.8 0.8 0.8 1</diffuse>
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<specular>0.8 0.8 0.8 1</specular>
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</material>
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</visual>
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<pose>0 0 0 0 -0 0</pose>
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<inertial>
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<pose>0 0 0 0 -0 0</pose>
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<mass>1</mass>
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<inertia>
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<ixx>1</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>1</iyy>
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<iyz>0</iyz>
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<izz>1</izz>
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</inertia>
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</inertial>
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<enable_wind>false</enable_wind>
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</link>
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<pose>0 0 0 0 -0 0</pose>
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<self_collide>false</self_collide>
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</model>
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<include>
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<uri>model://box1</uri>
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<name>box1</name>
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<pose>0.3 0.4 0 0 0 0</pose>
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</include>
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<include>
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<uri>model://box1</uri>
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<name>box2</name>
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<pose>0.2 0.4 0 0 0 0</pose>
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</include>
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<include>
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<uri>model://box1</uri>
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<name>box3</name>
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<pose>0.1 0.4 0 0 0 0</pose>
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</include>
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<include>
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<uri>model://box1</uri>
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<name>box4</name>
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<pose>0 0.4 0 0 0 0</pose>
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</include>
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<include>
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<uri>model://box1</uri>
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<name>box5</name>
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<pose>-0.1 0.4 0 0 0 0</pose>
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</include>
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<include>
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<uri>model://box1</uri>
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<name>box6</name>
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<pose>-0.2 0.4 0 0 0 0</pose>
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</include>
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<light name='sun' type='directional'>
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<pose>0 0 10 0 -0 0</pose>
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<cast_shadows>true</cast_shadows>
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<intensity>1</intensity>
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<direction>-0.5 0.1 -0.9</direction>
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<diffuse>0.8 0.8 0.8 1</diffuse>
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<specular>0.2 0.2 0.2 1</specular>
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<attenuation>
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<range>1000</range>
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<linear>0.01</linear>
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<constant>0.90000000000000002</constant>
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<quadratic>0.001</quadratic>
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</attenuation>
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<spot>
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<inner_angle>0</inner_angle>
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<outer_angle>0</outer_angle>
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<falloff>0</falloff>
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</spot>
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</light>
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</world>
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</sdf>
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243
rbs_simulation/worlds/mir.sdf
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243
rbs_simulation/worlds/mir.sdf
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<?xml version="1.0"?>
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<sdf version='1.9'>
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<world name='mir'>
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<physics name='1ms' type='ignored'>
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<max_step_size>0.001</max_step_size>
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<real_time_factor>1.0</real_time_factor>
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<real_time_update_rate>1000</real_time_update_rate>
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</physics>
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<plugin name='ignition::gazebo::systems::Physics' filename='ignition-gazebo-physics-system'/>
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<plugin name='ignition::gazebo::systems::UserCommands' filename='ignition-gazebo-user-commands-system'/>
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<plugin name='ignition::gazebo::systems::SceneBroadcaster' filename='ignition-gazebo-scene-broadcaster-system'/>
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<plugin name='ignition::gazebo::systems::Contact' filename='ignition-gazebo-contact-system'/>
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<gravity>0 0 -9.8</gravity>
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<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
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<atmosphere type='adiabatic'/>
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<scene>
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<ambient>0.4 0.4 0.4 1</ambient>
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<background>0.7 0.7 0.7 1</background>
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<shadows>false</shadows>
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</scene>
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<gui fullscreen="0">
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<plugin filename="GzScene3D" name="3D View">
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<ignition-gui>
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<title>3D View</title>
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<property type="bool" key="showTitleBar">false</property>
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<property type="string" key="state">docked</property>
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</ignition-gui>
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<engine>ogre2</engine>
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<scene>scene</scene>
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<ambient_light>1.0 1.0 1.0</ambient_light>
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<background_color>0.4 0.6 1.0</background_color>
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<camera_pose>3.3 2.8 2.8 0 0.5 -2.4</camera_pose>
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</plugin>
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<plugin filename="WorldStats" name="World stats">
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<ignition-gui>
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<title>World stats</title>
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<property type="bool" key="showTitleBar">false</property>
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<property type="bool" key="resizable">false</property>
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<property type="double" key="height">110</property>
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<property type="double" key="width">290</property>
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<property type="double" key="z">1</property>
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<property type="string" key="state">floating</property>
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<anchors target="3D View">
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<line own="right" target="right"/>
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<line own="bottom" target="bottom"/>
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</anchors>
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</ignition-gui>
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<sim_time>true</sim_time>
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<real_time>true</real_time>
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<real_time_factor>true</real_time_factor>
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<iterations>true</iterations>
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</plugin>
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</gui>
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<light type="directional" name="sun">
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<cast_shadows>true</cast_shadows>
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<pose>0 0 10 0 0 0</pose>
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<diffuse>0.8 0.8 0.8 1</diffuse>
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<specular>0.2 0.2 0.2 1</specular>
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<attenuation>
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<range>1000</range>
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<constant>0.9</constant>
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<linear>0.01</linear>
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<quadratic>0.001</quadratic>
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</attenuation>
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<direction>-0.5 0.1 -0.9</direction>
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</light>
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<model name='ground'>
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<static>true</static>
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<link name="link">
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<collision name="collision">
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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</plane>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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<material>
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<ambient>0.8 0.8 0.8 1</ambient>
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<diffuse>0.8 0.8 0.8 1</diffuse>
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<specular>0.8 0.8 0.8 1</specular>
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</material>
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</visual>
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</link>
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</model>
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<model name='rack'>
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<pose>0 0.7 0 0 0 0</pose>
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<static>1</static>
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<link name='body'>
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<visual name='visual'>
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<geometry>
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<mesh>
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<scale>0.35 0.35 0.35</scale>
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<uri>model://rack/model/rack.dae</uri>
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</mesh>
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</geometry>
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</visual>
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<collision name='collision'>
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<geometry>
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<mesh>
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<scale>0.35 0.35 0.35</scale>
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<uri>model://rack/model/rack.stl</uri>
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</mesh>
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</geometry>
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<max_contacts>10</max_contacts>
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<surface>
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<contact>
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<ode/>
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</contact>
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<bounce/>
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<friction>
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<torsional>
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<ode/>
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</torsional>
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<ode/>
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</friction>
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</surface>
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</collision>
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<self_collide>0</self_collide>
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<enable_wind>0</enable_wind>
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<kinematic>0</kinematic>
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</link>
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</model>
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<model name='table'>
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<pose>-0.75 0 0.2 0 0 0</pose>
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<static>1</static>
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<link name='telo'>
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<visual name='visual'>
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<geometry>
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<!-- <mesh>
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<scale>1 1 1</scale>
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<uri>model://table/model/table.dae</uri>
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</mesh> -->
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<box>
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<size>0.8 0.8 0.4</size>
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</box>
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</geometry>
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<material>
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<ambient>0.8 0.8 0.8 1</ambient>
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<diffuse>0.8 0.8 0.8 1</diffuse>
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<specular>0.8 0.8 0.8 1</specular>
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</material>
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</visual>
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<collision name='collision'>
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<geometry>
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<!-- <mesh>
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<scale>1 1 1</scale>
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<uri>model://table/model/table.stl</uri>
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</mesh> -->
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<box>
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<size>0.8 0.8 0.4</size>
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</box>
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</geometry>
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<max_contacts>10</max_contacts>
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<surface>
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<contact>
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<ode/>
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</contact>
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<bounce/>
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<friction>
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<torsional>
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<ode/>
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</torsional>
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<ode/>
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</friction>
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</surface>
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</collision>
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<self_collide>0</self_collide>
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<enable_wind>0</enable_wind>
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<kinematic>0</kinematic>
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</link>
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</model>
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<include>
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<uri>model://box1</uri>
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<name>box1</name>
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<pose>0.25 0.65 0.6515 0 0 0</pose>
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</include>
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<include>
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<uri>model://box1</uri>
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<name>box2</name>
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<pose>0 0.65 0.6515 0 0 0</pose>
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</include>
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<include>
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<uri>model://box1</uri>
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<name>box3</name>
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<pose>-0.25 0.65 0.6515 0 0 0</pose>
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</include>
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<include>
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<uri>model://box1</uri>
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<name>box4</name>
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<pose>0.25 0.65 0.3015 0 0 0</pose>
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</include>
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<include>
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<uri>model://box1</uri>
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<name>box5</name>
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<pose>0 0.65 0.3015 0 0 0</pose>
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</include>
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<include>
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<uri>model://box1</uri>
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<name>box6</name>
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<pose>-0.25 0.65 0.3015 0 0 0</pose>
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</include>
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<!-- <include>
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<uri>model://box1</uri>
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<name>pyramid1</name>
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<pose>-0.9000 -0.05 0.5250 0 0 0</pose>
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</include>
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<include>
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<uri>model://box1</uri>
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<name>pyramid2</name>
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<pose>-0.9000 0.0 0.5250 0 0 0</pose>
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</include>
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<include>
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<uri>model://box1</uri>
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<name>pyramid3</name>
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<pose>-0.9000 0.05 0.5250 0 0 0</pose>
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</include>
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<include>
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<uri>model://box1</uri>
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<name>pyramid4</name>
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<pose>-0.9 -0.0243 0.5750 0 -0 0</pose>
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</include>
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<include>
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<uri>model://box1</uri>
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<name>pyramid5</name>
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<pose>-0.9 0.0260 0.5750 0 -0 0</pose>
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</include>
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<include>
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<uri>model://box1</uri>
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<name>pyramid6</name>
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<pose>-0.9 0 0.6250 0 0 0</pose>
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</include> -->
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</world>
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</sdf>
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493
rbs_simulation/worlds/rbs_world.sdf
Normal file
493
rbs_simulation/worlds/rbs_world.sdf
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@ -0,0 +1,493 @@
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<sdf version='1.9'>
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<world name='empty'>
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<physics name='1ms' type='ignored'>
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<max_step_size>0.001</max_step_size>
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<real_time_factor>1</real_time_factor>
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<real_time_update_rate>1000</real_time_update_rate>
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</physics>
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<plugin name='ignition::gazebo::systems::Physics' filename='ignition-gazebo-physics-system'/>
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<plugin name='ignition::gazebo::systems::UserCommands' filename='ignition-gazebo-user-commands-system'/>
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<plugin name='ignition::gazebo::systems::SceneBroadcaster' filename='ignition-gazebo-scene-broadcaster-system'/>
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<plugin name='ignition::gazebo::systems::Contact' filename='ignition-gazebo-contact-system'/>
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<gravity>0 0 -9.8</gravity>
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<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
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<atmosphere type='adiabatic'/>
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<scene>
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<ambient>0.4 0.4 0.4 1</ambient>
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<background>0.7 0.7 0.7 1</background>
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<shadows>true</shadows>
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</scene>
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<model name='ground_plane'>
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<static>true</static>
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<link name='link'>
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<collision name='collision'>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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<surface>
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<friction>
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<ode/>
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</friction>
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<bounce/>
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<contact/>
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</surface>
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</collision>
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<visual name='visual'>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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<material>
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<ambient>0.8 0.8 0.8 1</ambient>
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<diffuse>0.8 0.8 0.8 1</diffuse>
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<specular>0.8 0.8 0.8 1</specular>
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</material>
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</visual>
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<pose>0 0 0 0 -0 0</pose>
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<inertial>
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<pose>0 0 0 0 -0 0</pose>
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<mass>1</mass>
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<inertia>
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<ixx>1</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>1</iyy>
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<iyz>0</iyz>
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<izz>1</izz>
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</inertia>
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</inertial>
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<enable_wind>false</enable_wind>
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</link>
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<pose>0 0 0 0 -0 0</pose>
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<self_collide>false</self_collide>
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</model>
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<model name='ur5e'>
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<joint name='base_joint' type='fixed'>
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<pose>0 0 0 0 -0 0</pose>
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<parent>world</parent>
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<child>base_link</child>
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</joint>
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<link name='base_link'>
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<pose>0 0 0 0 -0 0</pose>
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<inertial>
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<pose>0 0 0 0 -0 0</pose>
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<mass>4</mass>
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<inertia>
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<ixx>0.0044333300000000001</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.0044333300000000001</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.0071999999999999998</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='base_link_inertia_collision'>
|
||||
<pose>0 0 0 0 0 -2.449293598294706e-16</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>file:///home/bill-finger/rasms_ws/install/share/ur_description/meshes/ur5e/collision/base.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='base_link_inertia_visual'>
|
||||
<pose>0 0 0 0 0 -2.449293598294706e-16</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>file:///home/bill-finger/rasms_ws/install/share/ur_description/meshes/ur5e/visual/base.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<enable_wind>false</enable_wind>
|
||||
</link>
|
||||
<joint name='shoulder_pan_joint' type='revolute'>
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
<parent>base_link</parent>
|
||||
<child>shoulder_link</child>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-6.2831900000000003</lower>
|
||||
<upper>6.2831900000000003</upper>
|
||||
<effort>150</effort>
|
||||
<velocity>3.1415899999999999</velocity>
|
||||
<stiffness>100000000</stiffness>
|
||||
<dissipation>1</dissipation>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='shoulder_link'>
|
||||
<pose>0 0 0.1625 0 -0 -3.14159</pose>
|
||||
<inertial>
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
<mass>3.7000000000000002</mass>
|
||||
<inertia>
|
||||
<ixx>0.010267500000000001</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.010267500000000001</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.0066600000000000001</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='shoulder_link_collision'>
|
||||
<pose>0 0 0 0 0 3.141592653589793</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>file:///home/bill-finger/rasms_ws/install/share/ur_description/meshes/ur5e/collision/shoulder.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='shoulder_link_visual'>
|
||||
<pose>0 0 0 0 0 3.141592653589793</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>file:///home/bill-finger/rasms_ws/install/share/ur_description/meshes/ur5e/visual/shoulder.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<enable_wind>false</enable_wind>
|
||||
</link>
|
||||
<joint name='shoulder_lift_joint' type='revolute'>
|
||||
<pose>-0 0 0 0 -0 0</pose>
|
||||
<parent>shoulder_link</parent>
|
||||
<child>upper_arm_link</child>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-6.2831900000000003</lower>
|
||||
<upper>6.2831900000000003</upper>
|
||||
<effort>150</effort>
|
||||
<velocity>3.1415899999999999</velocity>
|
||||
<stiffness>100000000</stiffness>
|
||||
<dissipation>1</dissipation>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='upper_arm_link'>
|
||||
<pose>0 -0 0.1625 1.5708 1.57 -3.14159</pose>
|
||||
<inertial>
|
||||
<pose>-0.2125 0 0.138 0 1.5708 0</pose>
|
||||
<mass>8.3930000000000007</mass>
|
||||
<inertia>
|
||||
<ixx>0.13388600000000001</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.13388600000000001</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.0151074</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='upper_arm_link_collision'>
|
||||
<pose>0 0 0.138 1.570796326794896 0 -1.570796326794896</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>file:///home/bill-finger/rasms_ws/install/share/ur_description/meshes/ur5e/collision/upperarm.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='upper_arm_link_visual'>
|
||||
<pose>0 0 0.138 1.570796326794896 0 -1.570796326794896</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>file:///home/bill-finger/rasms_ws/install/share/ur_description/meshes/ur5e/visual/upperarm.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<enable_wind>false</enable_wind>
|
||||
</link>
|
||||
<joint name='elbow_joint' type='revolute'>
|
||||
<pose>0 -0 0 0 -0 0</pose>
|
||||
<parent>upper_arm_link</parent>
|
||||
<child>forearm_link</child>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-3.1415899999999999</lower>
|
||||
<upper>3.1415899999999999</upper>
|
||||
<effort>150</effort>
|
||||
<velocity>3.1415899999999999</velocity>
|
||||
<stiffness>100000000</stiffness>
|
||||
<dissipation>1</dissipation>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='forearm_link'>
|
||||
<pose>0.000338 0 0.5875 1.5708 1.57 -3.14159</pose>
|
||||
<inertial>
|
||||
<pose>-0.1961 0 0.007 0 1.5708 0</pose>
|
||||
<mass>2.2749999999999999</mass>
|
||||
<inertia>
|
||||
<ixx>0.031209400000000002</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.031209400000000002</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.0040949999999999997</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='forearm_link_collision'>
|
||||
<pose>0 0 0.007 1.570796326794896 0 -1.570796326794896</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>file:///home/bill-finger/rasms_ws/install/share/ur_description/meshes/ur5e/collision/forearm.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='forearm_link_visual'>
|
||||
<pose>0 0 0.007 1.570796326794896 0 -1.570796326794896</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>file:///home/bill-finger/rasms_ws/install/share/ur_description/meshes/ur5e/visual/forearm.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<enable_wind>false</enable_wind>
|
||||
</link>
|
||||
<joint name='wrist_1_joint' type='revolute'>
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
<parent>forearm_link</parent>
|
||||
<child>wrist_1_link</child>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-6.2831900000000003</lower>
|
||||
<upper>6.2831900000000003</upper>
|
||||
<effort>28</effort>
|
||||
<velocity>3.1415899999999999</velocity>
|
||||
<stiffness>100000000</stiffness>
|
||||
<dissipation>1</dissipation>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='wrist_1_link'>
|
||||
<pose>0.000651 0.1333 0.9797 -1.5708 0.001593 -0</pose>
|
||||
<inertial>
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
<mass>1.2190000000000001</mass>
|
||||
<inertia>
|
||||
<ixx>0.0025598999999999999</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.0025598999999999999</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.0021941999999999999</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='wrist_1_link_collision'>
|
||||
<pose>0 0 -0.127 1.570796326794896 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>file:///home/bill-finger/rasms_ws/install/share/ur_description/meshes/ur5e/collision/wrist1.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='wrist_1_link_visual'>
|
||||
<pose>0 0 -0.127 1.570796326794896 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>file:///home/bill-finger/rasms_ws/install/share/ur_description/meshes/ur5e/visual/wrist1.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<enable_wind>false</enable_wind>
|
||||
</link>
|
||||
<joint name='wrist_2_joint' type='revolute'>
|
||||
<pose>0 0 0 0 0 -0</pose>
|
||||
<parent>wrist_1_link</parent>
|
||||
<child>wrist_2_link</child>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-6.2831900000000003</lower>
|
||||
<upper>6.2831900000000003</upper>
|
||||
<effort>28</effort>
|
||||
<velocity>3.1415899999999999</velocity>
|
||||
<stiffness>100000000</stiffness>
|
||||
<dissipation>1</dissipation>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='wrist_2_link'>
|
||||
<pose>0.00081 0.1333 1.0794 -0 0.001593 -0</pose>
|
||||
<inertial>
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
<mass>1.2190000000000001</mass>
|
||||
<inertia>
|
||||
<ixx>0.0025598999999999999</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.0025598999999999999</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.0021941999999999999</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='wrist_2_link_collision'>
|
||||
<pose>0 0 -0.0997 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>file:///home/bill-finger/rasms_ws/install/share/ur_description/meshes/ur5e/collision/wrist2.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='wrist_2_link_visual'>
|
||||
<pose>0 0 -0.0997 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>file:///home/bill-finger/rasms_ws/install/share/ur_description/meshes/ur5e/visual/wrist2.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<enable_wind>false</enable_wind>
|
||||
</link>
|
||||
<joint name='wrist_3_joint' type='revolute'>
|
||||
<pose>0 -0 -0 0 -0 0</pose>
|
||||
<parent>wrist_2_link</parent>
|
||||
<child>wrist_3_link</child>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-6.2831900000000003</lower>
|
||||
<upper>6.2831900000000003</upper>
|
||||
<effort>28</effort>
|
||||
<velocity>3.1415899999999999</velocity>
|
||||
<stiffness>100000000</stiffness>
|
||||
<dissipation>1</dissipation>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='wrist_3_link'>
|
||||
<pose>0.00081 0.2329 1.0794 -1.5708 0.001593 -0</pose>
|
||||
<inertial>
|
||||
<pose>0 0 -0.0229 0 -0 0</pose>
|
||||
<mass>0.18790000000000001</mass>
|
||||
<inertia>
|
||||
<ixx>9.8904099999999994e-05</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>9.8904099999999994e-05</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.00013211700000000001</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='wrist_3_link_collision'>
|
||||
<pose>0 0 -0.0989 1.570796326794896 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>file:///home/bill-finger/rasms_ws/install/share/ur_description/meshes/ur5e/collision/wrist3.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='wrist_3_link_visual'>
|
||||
<pose>0 0 -0.0989 1.570796326794896 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>file:///home/bill-finger/rasms_ws/install/share/ur_description/meshes/ur5e/visual/wrist3.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<enable_wind>false</enable_wind>
|
||||
</link>
|
||||
<plugin name='ign_ros2_control::IgnitionROS2ControlPlugin' filename='libign_ros2_control-system.so'>
|
||||
<parameters>/home/bill-finger/rasms_ws/install/share/ur_moveit_config/config/ur_controllers.yaml</parameters>
|
||||
<controller_manager_node_name>controller_manager</controller_manager_node_name>
|
||||
</plugin>
|
||||
<frame name='base_link-base_fixed_joint' attached_to='base_link'>
|
||||
<pose>0 0 0 0 -0 3.14159</pose>
|
||||
</frame>
|
||||
<frame name='base' attached_to='base_link-base_fixed_joint'/>
|
||||
<frame name='base_link-base_link_inertia' attached_to='base_link'>
|
||||
<pose>0 0 0 0 -0 3.14159</pose>
|
||||
</frame>
|
||||
<frame name='base_link_inertia' attached_to='base_link-base_link_inertia'/>
|
||||
<frame name='flange-tool0' attached_to='flange'>
|
||||
<pose>0 0 0 1.5708 -0 1.5708</pose>
|
||||
</frame>
|
||||
<frame name='tool0' attached_to='flange-tool0'/>
|
||||
<frame name='wrist_3-flange' attached_to='wrist_3_link'>
|
||||
<pose>0 0 0 -1.5708 -1.5708 0</pose>
|
||||
</frame>
|
||||
<frame name='flange' attached_to='wrist_3-flange'/>
|
||||
<frame name='wrist_3_link-ft_frame' attached_to='wrist_3_link'>
|
||||
<pose>0 0 0 3.14159 -0 0</pose>
|
||||
</frame>
|
||||
<frame name='ft_frame' attached_to='wrist_3_link-ft_frame'/>
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
<static>false</static>
|
||||
<self_collide>false</self_collide>
|
||||
</model>
|
||||
<light name='sun' type='directional'>
|
||||
<pose>0 0 10 0 -0 0</pose>
|
||||
<cast_shadows>true</cast_shadows>
|
||||
<intensity>1</intensity>
|
||||
<direction>-0.5 0.1 -0.9</direction>
|
||||
<diffuse>0.8 0.8 0.8 1</diffuse>
|
||||
<specular>0.2 0.2 0.2 1</specular>
|
||||
<attenuation>
|
||||
<range>1000</range>
|
||||
<linear>0.01</linear>
|
||||
<constant>0.90000000000000002</constant>
|
||||
<quadratic>0.001</quadratic>
|
||||
</attenuation>
|
||||
<spot>
|
||||
<inner_angle>0</inner_angle>
|
||||
<outer_angle>0</outer_angle>
|
||||
<falloff>0</falloff>
|
||||
</spot>
|
||||
</light>
|
||||
</world>
|
||||
</sdf>
|
||||
Loading…
Add table
Add a link
Reference in a new issue