diff options
author | erwincoumans <erwincoumans@google.com> | 2021-11-13 22:41:05 -0800 |
---|---|---|
committer | GitHub <noreply@github.com> | 2021-11-13 22:41:05 -0800 |
commit | 10f72b9b5d37f66b5ce497a9818fb765974ab200 (patch) | |
tree | 152c47f0424a9dbb8e2194b74738cb09159d5db6 | |
parent | ccafe333d14b4cb2eed263b1a1b52fe9cfaef56b (diff) | |
parent | 83fbd60d5bcfe96ecf7030255dc52fd898a38ef9 (diff) | |
download | bullet3-10f72b9b5d37f66b5ce497a9818fb765974ab200.tar.gz |
Merge pull request #3921 from ayzaan/patch-1
Create URDF for white xarm
-rw-r--r-- | examples/pybullet/gym/pybullet_data/xarm/xarm6_robot_white.urdf | 317 |
1 files changed, 317 insertions, 0 deletions
diff --git a/examples/pybullet/gym/pybullet_data/xarm/xarm6_robot_white.urdf b/examples/pybullet/gym/pybullet_data/xarm/xarm6_robot_white.urdf new file mode 100644 index 000000000..fafcdde51 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/xarm/xarm6_robot_white.urdf @@ -0,0 +1,317 @@ +<?xml version="1.0" encoding="utf-8"?> +<!-- =================================================================================== --> +<!-- | This document was autogenerated by xacro from xarm6_robot.urdf.xacro | --> +<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | --> +<!-- =================================================================================== --> +<robot name="xarm6"> + <!-- + Author: Jason Peng <jason@ufactory.cc> + Contributers: +--> + <gazebo> + <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control"> + <robotNamespace>/xarm</robotNamespace> + <!-- <controlPeriod>0.0001</controlPeriod> --> + <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType> + <legacyModeNS>true</legacyModeNS> + <!-- <preserveWorldVelocity>true</preserveWorldVelocity> --> + </plugin> + </gazebo> + <link name="world"/> + <joint name="world_joint" type="fixed"> + <parent link="world"/> + <child link="link_base"/> + <origin rpy="0 0 0" xyz="0 0 0"/> + </joint> + <material name="Black"> + <color rgba="0.0 0.0 0.0 1.0"/> + </material> + <material name="Red"> + <color rgba="0.85 0.19 0.21 1.0"/> + </material> + <material name="Blue"> + <color rgba="0.28 0.52 0.92 1.0"/> + </material> + <material name="Green"> + <color rgba="0.23 0.72 0.32 1.0"/> + </material> + <material name="Yellow"> + <color rgba="0.95 0.76 0.05 1.0"/> + </material> + <material name="White"> + <color rgba="1.0 1.0 1.0 1.0"/> + </material> + <material name="Silver"> + <color rgba="0.753 0.753 0.753 1.0"/> + </material> + <link name="link_base"> + <visual> + <geometry> + <mesh filename="package://xarm_description/meshes/xarm6/visual/base.stl"/> + </geometry> + <origin rpy="0 0 0" xyz="0 0 0"/> + <material name="White"/> + </visual> + <collision> + <geometry> + <mesh filename="package://xarm_description/meshes/xarm6/collision/base_vhacd.obj"/> + </geometry> + <origin rpy="0 0 0" xyz="0 0 0"/> + </collision> + <inertial> + <origin rpy="0 0 0" xyz="0.0 0.0 0.09103"/> + <mass value="2.7"/> + <inertia ixx="0.00494875" ixy="-3.5E-06" ixz="1.25E-05" iyy="0.00494174" iyz="1.67E-06" izz="0.002219"/> + </inertial> + </link> + <link name="link1"> + <visual> + <geometry> + <mesh filename="package://xarm_description/meshes/xarm6/visual/link1.stl"/> + </geometry> + <origin rpy="0 0 0" xyz="0 0 0"/> + <material name="White"/> + </visual> + <collision> + <geometry> + <mesh filename="package://xarm_description/meshes/xarm6/collision/link1_vhacd.obj"/> + </geometry> + <origin rpy="0 0 0" xyz="0 0 0"/> + </collision> + <inertial> + <origin rpy="0 0 0" xyz="-0.002 0.02692 -0.01332"/> + <mass value="2.16"/> + <inertia ixx="0.00539427" ixy="1.095E-05" ixz="1.635E-06" iyy="0.0048979" iyz="0.000793" izz="0.00311573"/> + </inertial> + </link> + <joint name="joint1" type="revolute"> + <parent link="link_base"/> + <child link="link1"/> + <origin rpy="0 0 0" xyz="0 0 0.267"/> + <axis xyz="0 0 1"/> + <limit effort="50.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/> + <dynamics damping="1.0" friction="1.0"/> + </joint> + <link name="link2"> + <visual> + <geometry> + <mesh filename="package://xarm_description/meshes/xarm6/visual/link2.stl"/> + </geometry> + <origin rpy="0 0 0" xyz="0 0 0"/> + <material name="White"/> + </visual> + <collision> + <geometry> + <mesh filename="package://xarm_description/meshes/xarm6/collision/link2_vhacd.obj"/> + </geometry> + <origin rpy="0 0 0" xyz="0 0 0"/> + </collision> + <inertial> + <origin rpy="0 0 0" xyz="0.03531 -0.21398 0.03386"/> + <mass value="1.71"/> + <inertia ixx="0.0248674" ixy="-0.00430651" ixz="-0.00067797" iyy="0.00485548" iyz="0.00457245" izz="0.02387827"/> + </inertial> + </link> + <joint name="joint2" type="revolute"> + <parent link="link1"/> + <child link="link2"/> + <origin rpy="-1.5708 0 0" xyz="0 0 0"/> + <axis xyz="0 0 1"/> + <limit effort="50.0" lower="-2.059" upper="2.0944" velocity="3.14"/> + <dynamics damping="1.0" friction="1.0"/> + </joint> + <link name="link3"> + <visual> + <geometry> + <mesh filename="package://xarm_description/meshes/xarm6/visual/link3.stl"/> + </geometry> + <origin rpy="0 0 0" xyz="0 0 0"/> + <material name="White"/> + </visual> + <collision> + <geometry> + <mesh filename="package://xarm_description/meshes/xarm6/collision/link3_vhacd.obj"/> + </geometry> + <origin rpy="0 0 0" xyz="0 0 0"/> + </collision> + <inertial> + <origin rpy="0 0 0" xyz="0.06781 0.10749 0.01457"/> + <mass value="1.384"/> + <inertia ixx="0.0053694" ixy="0.0014185" ixz="-0.00092094" iyy="0.0032423" iyz="-0.00169178" izz="0.00501731"/> + </inertial> + </link> + <joint name="joint3" type="revolute"> + <parent link="link2"/> + <child link="link3"/> + <origin rpy="0 0 0" xyz="0.0535 -0.2845 0"/> + <axis xyz="0 0 1"/> + <limit effort="32.0" lower="-3.927" upper="0.19198" velocity="3.14"/> + <dynamics damping="1.0" friction="1.0"/> + </joint> + <link name="link4"> + <visual> + <geometry> + <mesh filename="package://xarm_description/meshes/xarm6/visual/link4.stl"/> + </geometry> + <origin rpy="0 0 0" xyz="0 0 0"/> + <material name="White"/> + </visual> + <collision> + <geometry> + <mesh filename="package://xarm_description/meshes/xarm6/collision/link4_vhacd.obj"/> + </geometry> + <origin rpy="0 0 0" xyz="0 0 0"/> + </collision> + <inertial> + <origin rpy="0 0 0" xyz="-0.00021 0.02578 -0.02538"/> + <mass value="1.115"/> + <inertia ixx="0.00439263" ixy="5.028E-05" ixz="1.374E-05" iyy="0.0040077" iyz="0.00045338" izz="0.00110321"/> + </inertial> + </link> + <joint name="joint4" type="revolute"> + <parent link="link3"/> + <child link="link4"/> + <origin rpy="-1.5708 0 0" xyz="0.0775 0.3425 0"/> + <axis xyz="0 0 1"/> + <limit effort="32.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/> + <dynamics damping="1.0" friction="1.0"/> + </joint> + <link name="link5"> + <visual> + <geometry> + <mesh filename="package://xarm_description/meshes/xarm6/visual/link5.stl"/> + </geometry> + <origin rpy="0 0 0" xyz="0 0 0"/> + <material name="White"/> + </visual> + <collision> + <geometry> + <mesh filename="package://xarm_description/meshes/xarm6/collision/link5_vhacd.obj"/> + </geometry> + <origin rpy="0 0 0" xyz="0 0 0"/> + </collision> + <inertial> + <origin rpy="0 0 0" xyz="0.05428 0.01781 0.00543"/> + <mass value="1.275"/> + <inertia ixx="0.001202758" ixy="0.000492428" ixz="-0.00039147" iyy="0.0022876" iyz="-1.235E-04" izz="0.0026866"/> + </inertial> + </link> + <joint name="joint5" type="revolute"> + <parent link="link4"/> + <child link="link5"/> + <origin rpy="1.5708 0 0" xyz="0 0 0"/> + <axis xyz="0 0 1"/> + <limit effort="32.0" lower="-1.69297" upper="3.14159265359" velocity="3.14"/> + <dynamics damping="1.0" friction="1.0"/> + </joint> + <link name="link6"> + <visual> + <geometry> + <mesh filename="package://xarm_description/meshes/xarm6/visual/link6.stl"/> + </geometry> + <origin rpy="0 0 0" xyz="0 0 0"/> + <material name="Silver"/> + </visual> + <collision> + <geometry> + <mesh filename="package://xarm_description/meshes/xarm6/collision/link6_vhacd.obj"/> + </geometry> + <origin rpy="0 0 0" xyz="0 0 0"/> + </collision> + <inertial> + <origin rpy="0 0 0" xyz="0 0.00064 -0.00952"/> + <mass value="0.1096"/> + <inertia ixx="4.5293E-05" ixy="0" ixz="0" iyy="4.8111E-05" iyz="0" izz="7.9715E-05"/> + </inertial> + </link> + <joint name="joint6" type="revolute"> + <parent link="link5"/> + <child link="link6"/> + <origin rpy="-1.5708 0 0" xyz="0.076 0.097 0"/> + <axis xyz="0 0 1"/> + <limit effort="20.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/> + <dynamics damping="1.0" friction="1.0"/> + </joint> + <transmission name="tran1"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="joint1"> + <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> + </joint> + <actuator name="motor1"> + <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> + <mechanicalReduction>100</mechanicalReduction> + </actuator> + </transmission> + <transmission name="tran2"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="joint2"> + <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> + </joint> + <actuator name="motor2"> + <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> + <mechanicalReduction>reduction</mechanicalReduction> + </actuator> + </transmission> + <transmission name="tran3"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="joint3"> + <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> + </joint> + <actuator name="motor3"> + <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> + <mechanicalReduction>reduction</mechanicalReduction> + </actuator> + </transmission> + <transmission name="tran4"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="joint4"> + <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> + </joint> + <actuator name="motor3"> + <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> + <mechanicalReduction>reduction</mechanicalReduction> + </actuator> + </transmission> + <transmission name="tran5"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="joint5"> + <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> + </joint> + <actuator name="motor5"> + <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> + <mechanicalReduction>reduction</mechanicalReduction> + </actuator> + </transmission> + <transmission name="tran6"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="joint6"> + <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> + </joint> + <actuator name="motor6"> + <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> + <mechanicalReduction>reduction</mechanicalReduction> + </actuator> + </transmission> + <gazebo reference="link_base"> + <selfCollide>true</selfCollide> + </gazebo> + <gazebo reference="link1"> + <selfCollide>true</selfCollide> + </gazebo> + <gazebo reference="link2"> + <selfCollide>true</selfCollide> + </gazebo> + <gazebo reference="link3"> + <selfCollide>true</selfCollide> + </gazebo> + <gazebo reference="link4"> + <selfCollide>true</selfCollide> + </gazebo> + <gazebo reference="link5"> + <selfCollide>true</selfCollide> + </gazebo> + <gazebo reference="link6"> + <selfCollide>true</selfCollide> + </gazebo> +</robot> + |