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kair_algorithms_draft/urdf/open_manipulator.urdf
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Cheolhui af95ab14f6 Replace the fk solver with kdl kinematics (#53) 
* Replace the fk solver with kdl kinematics

* Resolve the wrong kdl kinematics due to ill robot tree structure

* Apply isort and black and apply some naming changes

* Remove white spaces, blanks

* Change file permission 755 to 644

* Change file permission 755 to 644

* Change file permission 755 to 644

* Change file permission 755 to 644

* Change file permission 644 to 755
2019-05-25 00:15:25 +09:00

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<?xml version="1.0" ?>
<robot name="open_manipulator" xmlns:xacro="http://ros.org/wiki/xacro">
<material name="black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="white">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<material name="red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<material name="grey">
<color rgba="0.5 0.5 0.5 1.0"/>
</material>
<material name="orange">
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
</material>
<material name="brown">
<color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
</material>
<!-- World -->
<link name="world">
</link>
<!-- World fixed joint-->
<joint name="world_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/>
<child link="link1"/>
</joint>
<!-- Link 1 -->
<link name="link1">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://open_manipulator_description/meshes/chain_link1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="grey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://open_manipulator_description/meshes/chain_link1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
<!-- <inertial>
<origin xyz="0 0 0" />
<mass value="0.082" />
<inertia ixx="0.1" ixy="0.0" ixz="0.0"
iyy="0.1" iyz="0.0"
izz="0.1" />
</inertial>-->
<inertial>
<origin xyz="3.0876154e-04 0.0000000e+00 -1.2176461e-04"/>
<mass value="7.9119962e-02"/>
<inertia ixx="1.2505234e-05" ixy="0.0" ixz="-1.7855208e-07" iyy="2.1898364e-05" iyz="0.0" izz="1.9267361e-05"/>
</inertial>
</link>
<!-- Joint 1 -->
<joint name="joint1" type="revolute">
<parent link="link1"/>
<child link="link2"/>
<origin rpy="0 0 0" xyz="0.012 0.0 0.017"/>
<axis xyz="0 0 1"/>
<limit effort="1" lower="-2.82743338823" upper="2.82743338823" velocity="4.8"/>
</joint>
<!-- Link 2 -->
<link name="link2">
<visual>
<origin rpy="0 0 0" xyz="0 0 0.019"/>
<geometry>
<mesh filename="package://open_manipulator_description/meshes/chain_link2.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="grey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.019"/>
<geometry>
<mesh filename="package://open_manipulator_description/meshes/chain_link2.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
<!-- <inertial>
<origin xyz="0 0 0" />
<mass value="0.098" />
<inertia ixx="0.1" ixy="0.0" ixz="0.0"
iyy="0.1" iyz="0.0"
izz="0.1" />
</inertial>-->
<inertial>
<origin xyz="-3.0184870e-04 5.4043684e-04 0.047433464"/>
<mass value="9.8406837e-02"/>
<inertia ixx="3.4543422e-05" ixy="-1.6031095e-08" ixz="-3.8375155e-07" iyy="3.2689329e-05" iyz="2.8511935e-08" izz="1.8850320e-05"/>
</inertial>
</link>
<!-- Joint 2 -->
<joint name="joint2" type="revolute">
<parent link="link2"/>
<child link="link3"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0595"/>
<axis xyz="0 1 0"/>
<limit effort="1" lower="-1.79070781255" upper="1.57079632679" velocity="4.8"/>
</joint>
<!-- Link 3 -->
<link name="link3">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://open_manipulator_description/meshes/chain_link3.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="grey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://open_manipulator_description/meshes/chain_link3.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
<!-- <inertial>
<origin xyz="0 0 0" />
<mass value="0.136" />
<inertia ixx="0.1" ixy="0.0" ixz="0.0"
iyy="0.1" iyz="0.0"
izz="0.1" />
</inertial>-->
<inertial>
<origin xyz="1.0308393e-02 3.7743363e-04 1.0170197e-01"/>
<mass value="1.3850917e-01"/>
<inertia ixx="3.3055381e-04" ixy="-9.7940978e-08" ixz="-3.8505711e-05" iyy="3.4290447e-04" iyz="-1.5717516e-06" izz="6.0346498e-05"/>
</inertial>
</link>
<!-- Joint 3 -->
<joint name="joint3" type="revolute">
<parent link="link3"/>
<child link="link4"/>
<origin rpy="0 0 0" xyz="0.024 0 0.128"/>
<axis xyz="0 1 0"/>
<limit effort="1" lower="-0.942477796077" upper="1.38230076758" velocity="4.8"/>
</joint>
<!-- Link 4 -->
<link name="link4">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://open_manipulator_description/meshes/chain_link4.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="grey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://open_manipulator_description/meshes/chain_link4.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
<!-- <inertial>
<origin xyz="0 0 0" />
<mass value="0.131" />
<inertia ixx="0.1" ixy="0.0" ixz="0.0"
iyy="0.1" iyz="0.0"
izz="0.1" />
</inertial>-->
<inertial>
<origin xyz="9.0909590e-02 3.8929816e-04 2.2413279e-04"/>
<mass value="1.3274562e-01"/>
<inertia ixx="3.0654178e-05" ixy="-1.2764155e-06" ixz="-2.6874417e-07" iyy="2.4230292e-04" iyz="1.1559550e-08" izz="2.5155057e-04"/>
</inertial>
</link>
<!-- Joint 4 -->
<joint name="joint4" type="revolute">
<parent link="link4"/>
<child link="link5"/>
<origin rpy="0 0 0" xyz="0.124 0.0 0.0"/>
<axis xyz="0 1 0"/>
<limit effort="1" lower="-1.79070781255" upper="2.04203522483" velocity="4.8"/>
</joint>
<!-- Link 5 -->
<link name="link5">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://open_manipulator_description/meshes/chain_link5.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="grey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://open_manipulator_description/meshes/chain_link5.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
<!-- <inertial>
<origin xyz="0 0 0" />
<mass value="0.141" />
<inertia ixx="0.1" ixy="0.0" ixz="0.0"
iyy="0.1" iyz="0.0"
izz="0.1" />
</inertial>-->
<inertial>
<origin xyz="4.4206755e-02 3.6839985e-07 8.9142216e-03"/>
<mass value="1.4327573e-01"/>
<inertia ixx="8.0870749e-05" ixy="0.0" ixz="-1.0157896e-06" iyy="7.5980465e-05" iyz="0.0" izz="9.3127351e-05"/>
</inertial>
</link>
<!-- Gripper link -->
<link name="gripper_link">
<visual>
<origin rpy="0 0 0" xyz="0.0 0.0 0"/>
<geometry>
<mesh filename="package://open_manipulator_description/meshes/chain_link_grip_l.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="grey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.0 0.0 0"/>
<geometry>
<mesh filename="package://open_manipulator_description/meshes/chain_link_grip_l.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0"/>
<mass value="0.017"/>
<inertia ixx="1.0e-03" ixy="0.0" ixz="0.0" iyy="1.0e-03" iyz="0.0" izz="1.0e-03"/>
</inertial>
<!-- <inertial>
<origin xyz="${0.028 + 8.3720668e-03} ${0.0246 + 9.9696160e-03} -4.2836895e-07" />
<mass value="3.2218127e-02" />
<inertia ixx="9.5568826e-06" ixy="2.8424644e-06" ixz="-3.2829197e-10"
iyy="2.2552871e-05" iyz="-3.1463634e-10"
izz="1.7605306e-05" />
</inertial>-->
</link>
<!-- Gripper joint -->
<joint name="gripper" type="prismatic">
<parent link="link5"/>
<child link="gripper_link"/>
<origin rpy="0 0 0" xyz="0.0817 0.021 0.0"/>
<axis xyz="0 1 0"/>
<limit effort="1" lower="-0.010" upper="0.019" velocity="4.8"/>
</joint>
<!-- Gripper link sub -->
<link name="gripper_link_sub">
<visual>
<origin rpy="0 0 0" xyz="0.0 -0.0 0"/>
<geometry>
<mesh filename="package://open_manipulator_description/meshes/chain_link_grip_r.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="grey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.0 -0.0 0"/>
<geometry>
<mesh filename="package://open_manipulator_description/meshes/chain_link_grip_r.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0"/>
<mass value="0.017"/>
<inertia ixx="1.0e-03" ixy="0.0" ixz="0.0" iyy="1.0e-03" iyz="0.0" izz="1.0e-03"/>
</inertial>
<!-- <inertial>
<origin xyz="${0.028 + 8.3720668e-03} ${-0.0246 - 9.9696160e-03} -4.2836895e-07" />
<mass value="3.2218127e-02" />
<inertia ixx="9.5568826e-06" ixy="2.8424644e-06" ixz="-3.2829197e-10"
iyy="2.2552871e-05" iyz="-3.1463634e-10"
izz="1.7605306e-05" />
</inertial>-->
</link>
<!-- Gripper joint sub -->
<joint name="gripper_sub" type="prismatic">
<parent link="link5"/>
<child link="gripper_link_sub"/>
<origin rpy="0 0 0" xyz="0.0817 -0.021 0"/>
<axis xyz="0 -1 0"/>
<limit effort="1" lower="-0.010" upper="0.019" velocity="4.8"/>
<mimic joint="gripper" multiplier="1"/>
</joint>
<!-- end effector joint -->
<joint name="end_effector_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.126 0.0 0.0"/>
<parent link="link5"/>
<child link="end_effector_link"/>
</joint>
<!-- end effector link -->
<link name="end_effector_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.01 0.01 0.01"/>
</geometry>
<material name="red"/>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<mass value="0.001"/>
<inertia ixx="1.0e-06" ixy="0.0" ixz="0.0" iyy="1.0e-06" iyz="0.0" izz="1.0e-06"/>
</inertial>
</link>
</robot>
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