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February 16, 2017 12:13
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<sdf version='1.6'> | |
<model name='baxter'> | |
<link name='base'> | |
<pose frame=''>0 0 0 0 -0 0</pose> | |
<inertial> | |
<pose frame=''>0 -0 3e-06 0 -0 0</pose> | |
<mass>96.2011</mass> | |
<inertia> | |
<ixx>6.91297</ixx> | |
<ixy>0.00068017</ixy> | |
<ixz>0.64779</ixz> | |
<iyy>7.74978</iyy> | |
<iyz>0.00434511</iyz> | |
<izz>5.76418</izz> | |
</inertia> | |
</inertial> | |
<collision name='base_fixed_joint_lump__collision_head_link_1_collision'> | |
<pose frame=''>0.04 -0.04 0.75 0 -0 0</pose> | |
<geometry> | |
<sphere> | |
<radius>0.22</radius> | |
</sphere> | |
</geometry> | |
</collision> | |
<collision name='base_fixed_joint_lump__collision_head_link_2_collision_1'> | |
<pose frame=''>0.04 0.04 0.75 0 -0 0</pose> | |
<geometry> | |
<sphere> | |
<radius>0.22</radius> | |
</sphere> | |
</geometry> | |
</collision> | |
<collision name='base_fixed_joint_lump__torso_collision_2'> | |
<pose frame=''>0 0 0 0 -0 0</pose> | |
<geometry> | |
<mesh> | |
<scale>1 1 1</scale> | |
<uri>model://baxter_description/meshes/torso/base_link_collision.DAE</uri> | |
</mesh> | |
</geometry> | |
<surface> | |
<contact> | |
<ode/> | |
</contact> | |
<friction> | |
<ode/> | |
</friction> | |
</surface> | |
</collision> | |
<collision name='base_fixed_joint_lump__pedestal_collision_3'> | |
<pose frame=''>0 0 0 0 -0 0</pose> | |
<geometry> | |
<mesh> | |
<scale>1 1 1</scale> | |
<uri>model://baxter_description/meshes/base/pedestal_link_collision.DAE</uri> | |
</mesh> | |
</geometry> | |
</collision> | |
<collision name='base_fixed_joint_lump__sonar_ring_collision_4'> | |
<pose frame=''>0.0947 0 0.817 0 -0 0</pose> | |
<geometry> | |
<sphere> | |
<radius>0.001</radius> | |
</sphere> | |
</geometry> | |
<surface> | |
<contact> | |
<ode/> | |
</contact> | |
<friction> | |
<ode/> | |
</friction> | |
</surface> | |
</collision> | |
<visual name='base_fixed_joint_lump__collision_head_link_1_visual'> | |
<pose frame=''>0.11 0 0.75 0 -0 0</pose> | |
<geometry> | |
<sphere> | |
<radius>0.001</radius> | |
</sphere> | |
</geometry> | |
</visual> | |
<visual name='base_fixed_joint_lump__collision_head_link_2_visual_1'> | |
<pose frame=''>0.11 0 0.75 0 -0 0</pose> | |
<geometry> | |
<sphere> | |
<radius>0.001</radius> | |
</sphere> | |
</geometry> | |
</visual> | |
<visual name='base_fixed_joint_lump__torso_visual_2'> | |
<pose frame=''>0 0 0 0 -0 0</pose> | |
<geometry> | |
<mesh> | |
<scale>1 1 1</scale> | |
<uri>model://baxter_description/meshes/torso/base_link.DAE</uri> | |
</mesh> | |
</geometry> | |
<material> | |
<script> | |
<uri>__default__</uri> | |
<name>__default__</name> | |
</script> | |
</material> | |
</visual> | |
<visual name='base_fixed_joint_lump__pedestal_visual_3'> | |
<pose frame=''>0 0 0 0 -0 0</pose> | |
<geometry> | |
<mesh> | |
<scale>1 1 1</scale> | |
<uri>model://baxter_description/meshes/base/PEDESTAL.DAE</uri> | |
</mesh> | |
</geometry> | |
</visual> | |
<visual name='base_fixed_joint_lump__sonar_ring_visual_4'> | |
<pose frame=''>0.06 0 0.82653 0 -0 0</pose> | |
<geometry> | |
<cylinder> | |
<length>0.01</length> | |
<radius>0.085</radius> | |
</cylinder> | |
</geometry> | |
<material> | |
<script> | |
<uri>__default__</uri> | |
<name>__default__</name> | |
</script> | |
</material> | |
</visual> | |
<velocity_decay/> | |
<self_collide>1</self_collide> | |
<gravity>1</gravity> | |
<velocity_decay/> | |
<self_collide>0</self_collide> | |
<sensor name='sonar' type='ray'> | |
<ray> | |
<scan> | |
<horizontal> | |
<samples>12</samples> | |
<resolution>1</resolution> | |
<min_angle>-3.14</min_angle> | |
<max_angle>3.14</max_angle> | |
</horizontal> | |
<vertical> | |
<samples>2</samples> | |
<resolution>1</resolution> | |
<min_angle>-0.001</min_angle> | |
<max_angle>0</max_angle> | |
</vertical> | |
</scan> | |
<range> | |
<min>0.05</min> | |
<max>50</max> | |
</range> | |
</ray> | |
<plugin name='sonar_plugin' filename='libgazebo_ros_block_laser.so'> | |
<gaussianNoise>0.00</gaussianNoise> | |
<alwaysOn>true</alwaysOn> | |
<updateRate>100.0</updateRate> | |
<topicName>/robot/sonar/head_sonar/state</topicName> | |
<frameName>sonar_ring</frameName> | |
<hokuyoMinIntensity>101</hokuyoMinIntensity> | |
</plugin> | |
<always_on>1</always_on> | |
<update_rate>100</update_rate> | |
<pose frame=''>0.0947 0 0.817 0 -0 0</pose> | |
</sensor> | |
</link> | |
<joint name='fixed' type='revolute'> | |
<child>base</child> | |
<parent>world</parent> | |
<axis> | |
<limit> | |
<lower>0</lower> | |
<upper>0</upper> | |
</limit> | |
<dynamics> | |
<damping>0</damping> | |
<friction>0</friction> | |
<spring_reference>0</spring_reference> | |
<spring_stiffness>0</spring_stiffness> | |
</dynamics> | |
<use_parent_model_frame>1</use_parent_model_frame> | |
<xyz>0 0 1</xyz> | |
</axis> | |
</joint> | |
<link name='head'> | |
<pose frame=''>0.06 0 0.686 0 -0 0</pose> | |
<inertial> | |
<pose frame=''>0.054677 0 5e-06 0 -0 0</pose> | |
<mass>0.988238</mass> | |
<inertia> | |
<ixx>0.00620194</ixx> | |
<ixy>0.000202093</ixy> | |
<ixz>0.000495898</ixz> | |
<iyy>0.010977</iyy> | |
<iyz>-0.00109806</iyz> | |
<izz>0.00983914</izz> | |
</inertia> | |
</inertial> | |
<collision name='head_collision'> | |
<pose frame=''>0 0 0 0 -0 0</pose> | |
<geometry> | |
<sphere> | |
<radius>0.001</radius> | |
</sphere> | |
</geometry> | |
</collision> | |
<collision name='head_fixed_joint_lump__screen_collision_1'> | |
<pose frame=''>0.1227 0 0 1.75057 0 1.5708</pose> | |
<geometry> | |
<sphere> | |
<radius>0.001</radius> | |
</sphere> | |
</geometry> | |
</collision> | |
<visual name='head_visual'> | |
<pose frame=''>0 0 0.00953 0 -0 0</pose> | |
<geometry> | |
<mesh> | |
<scale>1 1 1</scale> | |
<uri>model://baxter_description/meshes/head/H0.DAE</uri> | |
</mesh> | |
</geometry> | |
</visual> | |
<visual name='head_fixed_joint_lump__screen_visual_1'> | |
<pose frame=''>0.086855 0 -0.003172 1.5708 0.179774 0</pose> | |
<geometry> | |
<mesh> | |
<scale>1 1 1</scale> | |
<uri>model://baxter_description/meshes/head/H1.DAE</uri> | |
</mesh> | |
</geometry> | |
</visual> | |
<visual name='head_fixed_joint_lump__display_visual_2'> | |
<pose frame=''>0.119839 0 -0.015742 2.01237 0 1.5708</pose> | |
<geometry> | |
<box> | |
<size>0.218 0.16 0.001</size> | |
</box> | |
</geometry> | |
<plugin name='screen_video_controller' filename='libgazebo_ros_video.so'> | |
<height>600</height> | |
<width>1024</width> | |
<topicName>/robot/xdisplay</topicName> | |
<robotNamespace>/robot</robotNamespace> | |
</plugin> | |
<material> | |
<script> | |
<uri>__default__</uri> | |
<name>__default__</name> | |
</script> | |
</material> | |
</visual> | |
<velocity_decay/> | |
<sensor name='head_camera' type='camera'> | |
<update_rate>30</update_rate> | |
<camera name='head_camera'> | |
<pose frame=''>0 0.21 0 0 -0.8 -1.5708</pose> | |
<horizontal_fov>1.39626</horizontal_fov> | |
<image> | |
<width>800</width> | |
<height>800</height> | |
<format>R8G8B8</format> | |
</image> | |
<clip> | |
<near>0.02</near> | |
<far>300</far> | |
</clip> | |
<noise> | |
<type>gaussian</type> | |
<mean>0</mean> | |
<stddev>0.007</stddev> | |
</noise> | |
</camera> | |
<plugin name='camera_controller' filename='libgazebo_ros_camera.so'> | |
<alwaysOn>true</alwaysOn> | |
<updateRate>0.0</updateRate> | |
<cameraName>head_camera</cameraName> | |
<imageTopicName>image</imageTopicName> | |
<cameraInfoTopicName>camera_info</cameraInfoTopicName> | |
<frameName>head_camera</frameName> | |
<hackBaseline>0.07</hackBaseline> | |
<distortionK1>0.0</distortionK1> | |
<distortionK2>0.0</distortionK2> | |
<distortionK3>0.0</distortionK3> | |
<distortionT1>0.0</distortionT1> | |
<distortionT2>0.0</distortionT2> | |
<CxPrime>0</CxPrime> | |
<Cx>0.0</Cx> | |
<Cy>0.0</Cy> | |
<focalLength>0.0</focalLength> | |
<robotNamespace>/cameras</robotNamespace> | |
</plugin> | |
<pose frame=''>0.12839 0 0.06368 1.75057 0 1.5708</pose> | |
</sensor> | |
<gravity>1</gravity> | |
<velocity_decay/> | |
<self_collide>0</self_collide> | |
</link> | |
<joint name='head_pan' type='revolute'> | |
<child>head</child> | |
<parent>base</parent> | |
<axis> | |
<xyz>0 0 1</xyz> | |
<limit> | |
<lower>-1.3963</lower> | |
<upper>1.3963</upper> | |
<effort>50000</effort> | |
<velocity>10000</velocity> | |
</limit> | |
<dynamics> | |
<damping>0.7</damping> | |
<friction>0</friction> | |
<spring_reference>0</spring_reference> | |
<spring_stiffness>0</spring_stiffness> | |
</dynamics> | |
<use_parent_model_frame>1</use_parent_model_frame> | |
</axis> | |
<physics> | |
<ode> | |
<implicit_spring_damper>1</implicit_spring_damper> | |
<cfm_damping>1</cfm_damping> | |
<limit> | |
<cfm>0</cfm> | |
<erp>0.2</erp> | |
</limit> | |
</ode> | |
</physics> | |
</joint> | |
<link name='left_upper_shoulder'> | |
<pose frame=''>0.064027 0.259027 0.129626 0 -0 0.7854</pose> | |
<inertial> | |
<pose frame=''>0.01783 0.00086 0.19127 0 -0 0</pose> | |
<mass>5.70044</mass> | |
<inertia> | |
<ixx>0.047091</ixx> | |
<ixy>0.000127876</ixy> | |
<ixz>0.0061487</ixz> | |
<iyy>0.0376698</iyy> | |
<iyz>0.000780869</iyz> | |
<izz>0.0359599</izz> | |
</inertia> | |
</inertial> | |
<collision name='left_upper_shoulder_collision'> | |
<pose frame=''>0 0 0.1361 0 -0 0</pose> | |
<geometry> | |
<cylinder> | |
<length>0.2722</length> | |
<radius>0.06</radius> | |
</cylinder> | |
</geometry> | |
</collision> | |
<visual name='left_upper_shoulder_visual'> | |
<pose frame=''>0 0 0 0 -0 0</pose> | |
<geometry> | |
<mesh> | |
<scale>1 1 1</scale> | |
<uri>model://baxter_description/meshes/upper_shoulder/S0.DAE</uri> | |
</mesh> | |
</geometry> | |
</visual> | |
</link> | |
<joint name='left_s0' type='revolute'> | |
<child>left_upper_shoulder</child> | |
<parent>base</parent> | |
<axis> | |
<xyz>0 0 1</xyz> | |
<limit> | |
<lower>-1.70168</lower> | |
<upper>1.70168</upper> | |
<effort>50</effort> | |
<velocity>1.5</velocity> | |
</limit> | |
<dynamics> | |
<damping>0.7</damping> | |
<friction>0</friction> | |
<spring_reference>0</spring_reference> | |
<spring_stiffness>0</spring_stiffness> | |
</dynamics> | |
<use_parent_model_frame>1</use_parent_model_frame> | |
</axis> | |
<physics> | |
<ode> | |
<implicit_spring_damper>1</implicit_spring_damper> | |
<cfm_damping>1</cfm_damping> | |
<limit> | |
<cfm>0</cfm> | |
<erp>0.2</erp> | |
</limit> | |
</ode> | |
</physics> | |
</joint> | |
<link name='left_lower_shoulder'> | |
<pose frame=''>0.112818 0.307818 0.399976 -1.5708 -0 0.7854</pose> | |
<inertial> | |
<pose frame=''>0.068451 0.00269 -0.00529 0 -0 0</pose> | |
<mass>3.22708</mass> | |
<inertia> | |
<ixx>0.0117521</ixx> | |
<ixy>-0.000300954</ixy> | |
<ixz>0.00207674</ixz> | |
<iyy>0.0278861</iyy> | |
<iyz>-0.000188219</iyz> | |
<izz>0.0207877</izz> | |
</inertia> | |
</inertial> | |
<collision name='left_lower_shoulder_collision'> | |
<pose frame=''>0 0 0 0 -0 0</pose> | |
<geometry> | |
<cylinder> | |
<length>0.12</length> | |
<radius>0.06</radius> | |
</cylinder> | |
</geometry> | |
</collision> | |
<collision name='left_lower_shoulder_fixed_joint_lump__left_upper_elbow_visual_collision_1'> | |
<pose frame=''>0.2435 -0 0 1.5708 -0 1.5708</pose> | |
<geometry> | |
<cylinder> | |
<length>0.273</length> | |
<radius>0.06</radius> | |
</cylinder> | |
</geometry> | |
</collision> | |
<visual name='left_lower_shoulder_visual'> | |
<pose frame=''>0 0 0 0 -0 0</pose> | |
<geometry> | |
<mesh> | |
<scale>1 1 1</scale> | |
<uri>model://baxter_description/meshes/lower_shoulder/S1.DAE</uri> | |
</mesh> | |
</geometry> | |
</visual> | |
</link> | |
<joint name='left_s1' type='revolute'> | |
<child>left_lower_shoulder</child> | |
<parent>left_upper_shoulder</parent> | |
<axis> | |
<xyz>-0.707108 0.707105 0</xyz> | |
<limit> | |
<lower>-2.147</lower> | |
<upper>1.047</upper> | |
<effort>50</effort> | |
<velocity>1.5</velocity> | |
</limit> | |
<dynamics> | |
<damping>0.7</damping> | |
<friction>0</friction> | |
<spring_reference>0</spring_reference> | |
<spring_stiffness>0</spring_stiffness> | |
</dynamics> | |
<use_parent_model_frame>1</use_parent_model_frame> | |
</axis> | |
<physics> | |
<ode> | |
<implicit_spring_damper>1</implicit_spring_damper> | |
<cfm_damping>1</cfm_damping> | |
<limit> | |
<cfm>0</cfm> | |
<erp>0.2</erp> | |
</limit> | |
</ode> | |
</physics> | |
</joint> | |
<link name='left_upper_elbow'> | |
<pose frame=''>0.184942 0.379943 0.399976 -2.35616 1.57079 -1.57076</pose> | |
<inertial> | |
<pose frame=''>-0.00276 0.00132 0.18086 0 -0 0</pose> | |
<mass>4.31272</mass> | |
<inertia> | |
<ixx>0.0266173</ixx> | |
<ixy>0.000292706</ixy> | |
<ixz>0.0039219</ixz> | |
<iyy>0.0284436</iyy> | |
<iyz>0.00108389</iyz> | |
<izz>0.0124801</izz> | |
</inertia> | |
</inertial> | |
<collision name='left_upper_elbow_collision'> | |
<pose frame=''>0 0 -0.0535 0 -0 0</pose> | |
<geometry> | |
<cylinder> | |
<length>0.107</length> | |
<radius>0.06</radius> | |
</cylinder> | |
</geometry> | |
</collision> | |
<visual name='left_upper_elbow_visual'> | |
<pose frame=''>0 0 0 0 -0 0</pose> | |
<geometry> | |
<mesh> | |
<scale>1 1 1</scale> | |
<uri>model://baxter_description/meshes/upper_elbow/E0.DAE</uri> | |
</mesh> | |
</geometry> | |
</visual> | |
</link> | |
<joint name='left_e0' type='revolute'> | |
<child>left_upper_elbow</child> | |
<parent>left_lower_shoulder</parent> | |
<axis> | |
<xyz>0.707105 0.707108 0</xyz> | |
<limit> | |
<lower>-3.05418</lower> | |
<upper>3.05418</upper> | |
<effort>50</effort> | |
<velocity>1.5</velocity> | |
</limit> | |
<dynamics> | |
<damping>0.7</damping> | |
<friction>0</friction> | |
<spring_reference>0</spring_reference> | |
<spring_stiffness>0</spring_stiffness> | |
</dynamics> | |
<use_parent_model_frame>1</use_parent_model_frame> | |
</axis> | |
<physics> | |
<ode> | |
<implicit_spring_damper>1</implicit_spring_damper> | |
<cfm_damping>1</cfm_damping> | |
<limit> | |
<cfm>0</cfm> | |
<erp>0.2</erp> | |
</limit> | |
</ode> | |
</physics> | |
</joint> | |
<link name='left_lower_elbow'> | |
<pose frame=''>0.370501 0.565502 0.330976 -1.5708 -0 0.7854</pose> | |
<inertial> | |
<pose frame=''>0.026113 0.00159 -0.01117 0 -0 0</pose> | |
<mass>2.07216</mass> | |
<inertia> | |
<ixx>0.00711585</ixx> | |
<ixy>0.000360372</ixy> | |
<ixz>0.00074588</ixz> | |
<iyy>0.0131827</iyy> | |
<iyz>-0.000196632</iyz> | |
<izz>0.00926891</izz> | |
</inertia> | |
</inertial> | |
<collision name='left_lower_elbow_collision'> | |
<pose frame=''>0 0 0 0 -0 0</pose> | |
<geometry> | |
<cylinder> | |
<length>0.1</length> | |
<radius>0.06</radius> | |
</cylinder> | |
</geometry> | |
</collision> | |
<collision name='left_lower_elbow_fixed_joint_lump__left_upper_forearm_visual_collision_1'> | |
<pose frame=''>0.224 -0 0 1.5708 -0 1.5708</pose> | |
<geometry> | |
<cylinder> | |
<length>0.272</length> | |
<radius>0.06</radius> | |
</cylinder> | |
</geometry> | |
</collision> | |
<visual name='left_lower_elbow_visual'> | |
<pose frame=''>0 0 0 0 -0 0</pose> | |
<geometry> | |
<mesh> | |
<scale>1 1 1</scale> | |
<uri>model://baxter_description/meshes/lower_elbow/E1.DAE</uri> | |
</mesh> | |
</geometry> | |
</visual> | |
</link> | |
<joint name='left_e1' type='revolute'> | |
<child>left_lower_elbow</child> | |
<parent>left_upper_elbow</parent> | |
<axis> | |
<xyz>-0.707108 0.707105 0</xyz> | |
<limit> | |
<lower>-0.05</lower> | |
<upper>2.618</upper> | |
<effort>50</effort> | |
<velocity>1.5</velocity> | |
</limit> | |
<dynamics> | |
<damping>0.7</damping> | |
<friction>0</friction> | |
<spring_reference>0</spring_reference> | |
<spring_stiffness>0</spring_stiffness> | |
</dynamics> | |
<use_parent_model_frame>1</use_parent_model_frame> | |
</axis> | |
<physics> | |
<ode> | |
<implicit_spring_damper>1</implicit_spring_damper> | |
<cfm_damping>1</cfm_damping> | |
<limit> | |
<cfm>0</cfm> | |
<erp>0.2</erp> | |
</limit> | |
</ode> | |
</physics> | |
</joint> | |
<link name='left_upper_forearm'> | |
<pose frame=''>0.44375 0.638751 0.330976 -2.03443 1.57079 -1.24903</pose> | |
<inertial> | |
<pose frame=''>-0.001682 0.0046 0.139519 0 -0 0</pose> | |
<mass>2.24675</mass> | |
<inertia> | |
<ixx>0.0166775</ixx> | |
<ixy>0.000184012</ixy> | |
<ixz>0.000186469</ixz> | |
<iyy>0.0167549</iyy> | |
<iyz>-0.000647332</iyz> | |
<izz>0.00374662</izz> | |
</inertia> | |
</inertial> | |
<collision name='left_upper_forearm_collision'> | |
<pose frame=''>0 0 -0.044 0 -0 0</pose> | |
<geometry> | |
<cylinder> | |
<length>0.088</length> | |
<radius>0.06</radius> | |
</cylinder> | |
</geometry> | |
</collision> | |
<visual name='left_upper_forearm_visual'> | |
<pose frame=''>0 0 0 0 -0 0</pose> | |
<geometry> | |
<mesh> | |
<scale>1 1 1</scale> | |
<uri>model://baxter_description/meshes/upper_forearm/W0.DAE</uri> | |
</mesh> | |
</geometry> | |
</visual> | |
</link> | |
<joint name='left_w0' type='revolute'> | |
<child>left_upper_forearm</child> | |
<parent>left_lower_elbow</parent> | |
<axis> | |
<xyz>0.707105 0.707108 0</xyz> | |
<limit> | |
<lower>-3.059</lower> | |
<upper>3.059</upper> | |
<effort>15</effort> | |
<velocity>4</velocity> | |
</limit> | |
<dynamics> | |
<damping>0.7</damping> | |
<friction>0</friction> | |
<spring_reference>0</spring_reference> | |
<spring_stiffness>0</spring_stiffness> | |
</dynamics> | |
<use_parent_model_frame>1</use_parent_model_frame> | |
</axis> | |
<physics> | |
<ode> | |
<implicit_spring_damper>1</implicit_spring_damper> | |
<cfm_damping>1</cfm_damping> | |
<limit> | |
<cfm>0</cfm> | |
<erp>0.2</erp> | |
</limit> | |
</ode> | |
</physics> | |
</joint> | |
<link name='left_lower_forearm'> | |
<pose frame=''>0.635163 0.830166 0.320976 -1.5708 -0 0.7854</pose> | |
<inertial> | |
<pose frame=''>0.06041 0.00697 0.006 0 -0 0</pose> | |
<mass>1.60979</mass> | |
<inertia> | |
<ixx>0.00387607</ixx> | |
<ixy>-0.000443848</ixy> | |
<ixz>-0.00021115</ixz> | |
<iyy>0.00700538</iyy> | |
<iyz>0.000153481</iyz> | |
<izz>0.00552755</izz> | |
</inertia> | |
</inertial> | |
<collision name='left_lower_forearm_collision'> | |
<pose frame=''>0 0 0 0 -0 0</pose> | |
<geometry> | |
<cylinder> | |
<length>0.1</length> | |
<radius>0.06</radius> | |
</cylinder> | |
</geometry> | |
</collision> | |
<visual name='left_lower_forearm_visual'> | |
<pose frame=''>0 0 0 0 -0 0</pose> | |
<geometry> | |
<mesh> | |
<scale>1 1 1</scale> | |
<uri>model://baxter_description/meshes/lower_forearm/W1.DAE</uri> | |
</mesh> | |
</geometry> | |
</visual> | |
</link> | |
<joint name='left_w1' type='revolute'> | |
<child>left_lower_forearm</child> | |
<parent>left_upper_forearm</parent> | |
<axis> | |
<xyz>-0.707108 0.707105 0</xyz> | |
<limit> | |
<lower>-1.5708</lower> | |
<upper>2.094</upper> | |
<effort>15</effort> | |
<velocity>4</velocity> | |
</limit> | |
<dynamics> | |
<damping>0.7</damping> | |
<friction>0</friction> | |
<spring_reference>0</spring_reference> | |
<spring_stiffness>0</spring_stiffness> | |
</dynamics> | |
<use_parent_model_frame>1</use_parent_model_frame> | |
</axis> | |
<physics> | |
<ode> | |
<implicit_spring_damper>1</implicit_spring_damper> | |
<cfm_damping>1</cfm_damping> | |
<limit> | |
<cfm>0</cfm> | |
<erp>0.2</erp> | |
</limit> | |
</ode> | |
</physics> | |
</joint> | |
<link name='left_wrist'> | |
<pose frame=''>0.71717 0.912173 0.320976 -1.89253 1.57079 -1.10713</pose> | |
<inertial> | |
<pose frame=''>0.003318 0.000616 0.079435 0 -0 0</pose> | |
<mass>0.84268</mass> | |
<inertia> | |
<ixx>0.00285059</ixx> | |
<ixy>7.17373e-06</ixy> | |
<ixz>2.52032e-05</ixz> | |
<iyy>0.00291735</iyy> | |
<iyz>2.17353e-05</iyz> | |
<izz>0.000560608</izz> | |
</inertia> | |
</inertial> | |
<collision name='left_wrist_collision'> | |
<pose frame=''>0 0 0 0 -0 0</pose> | |
<geometry> | |
<cylinder> | |
<length>0.165</length> | |
<radius>0.06</radius> | |
</cylinder> | |
</geometry> | |
</collision> | |
<collision name='left_wrist_fixed_joint_lump__left_hand_collision_1'> | |
<pose frame=''>0 0 0.09035 0 -0 0</pose> | |
<geometry> | |
<cylinder> | |
<length>0.0464</length> | |
<radius>0.04</radius> | |
</cylinder> | |
</geometry> | |
</collision> | |
<collision name='left_wrist_fixed_joint_lump__left_gripper_base_collision_2'> | |
<pose frame=''>0 0 0.13855 1.5708 -0 3.14159</pose> | |
<geometry> | |
<cylinder> | |
<length>0.1</length> | |
<radius>0.029</radius> | |
</cylinder> | |
</geometry> | |
</collision> | |
<visual name='left_wrist_visual'> | |
<pose frame=''>0 0 0 0 -0 0</pose> | |
<geometry> | |
<mesh> | |
<scale>1 1 1</scale> | |
<uri>model://baxter_description/meshes/wrist/W2.DAE</uri> | |
</mesh> | |
</geometry> | |
</visual> | |
<visual name='left_wrist_fixed_joint_lump__left_gripper_base_visual_1'> | |
<pose frame=''>0 0 0.13855 1.5708 -0 3.14159</pose> | |
<geometry> | |
<mesh> | |
<scale>1 1 1</scale> | |
<uri>model://rethink_ee_description/meshes/electric_gripper/electric_gripper_base.DAE</uri> | |
</mesh> | |
</geometry> | |
</visual> | |
<visual name='left_wrist_fixed_joint_lump__left_hand_accelerometer_visual_2'> | |
<pose frame=''>0.00198 0.000133 0.09895 0 -0 0</pose> | |
<geometry> | |
<box> | |
<size>0.01 0.01 0.01</size> | |
</box> | |
</geometry> | |
</visual> | |
<visual name='left_wrist_fixed_joint_lump__left_hand_camera_visual_3'> | |
<pose frame=''>0.03825 0.012 0.128905 0 0 -1.5708</pose> | |
<geometry> | |
<cylinder> | |
<length>0.01</length> | |
<radius>0.02</radius> | |
</cylinder> | |
</geometry> | |
<material> | |
<script> | |
<uri>__default__</uri> | |
<name>__default__</name> | |
</script> | |
</material> | |
</visual> | |
<visual name='left_wrist_fixed_joint_lump__left_hand_range_visual_4'> | |
<pose frame=''>0.032 -0.020245 0.14235 3.14159 -1.57079 1.57079</pose> | |
<geometry> | |
<box> | |
<size>0.005 0.02 0.005</size> | |
</box> | |
</geometry> | |
<material> | |
<script> | |
<uri>__default__</uri> | |
<name>__default__</name> | |
</script> | |
</material> | |
</visual> | |
<velocity_decay/> | |
<sensor name='left_hand_camera' type='camera'> | |
<update_rate>30</update_rate> | |
<camera name='left_hand_camera'> | |
<pose frame=''>0 0 0 -3.14159 -1.5708 -1.5708</pose> | |
<horizontal_fov>1.39626</horizontal_fov> | |
<image> | |
<width>800</width> | |
<height>800</height> | |
<format>R8G8B8</format> | |
</image> | |
<clip> | |
<near>0.02</near> | |
<far>300</far> | |
</clip> | |
<noise> | |
<type>gaussian</type> | |
<mean>0</mean> | |
<stddev>0.007</stddev> | |
</noise> | |
</camera> | |
<plugin name='camera_controller' filename='libgazebo_ros_camera.so'> | |
<alwaysOn>true</alwaysOn> | |
<updateRate>0.0</updateRate> | |
<cameraName>left_hand_camera</cameraName> | |
<imageTopicName>image</imageTopicName> | |
<cameraInfoTopicName>camera_info</cameraInfoTopicName> | |
<frameName>left_hand_camera</frameName> | |
<hackBaseline>0.07</hackBaseline> | |
<distortionK1>0.0</distortionK1> | |
<distortionK2>0.0</distortionK2> | |
<distortionK3>0.0</distortionK3> | |
<distortionT1>0.0</distortionT1> | |
<distortionT2>0.0</distortionT2> | |
<CxPrime>0</CxPrime> | |
<Cx>0.0</Cx> | |
<Cy>0.0</Cy> | |
<focalLength>0.0</focalLength> | |
<robotNamespace>/cameras</robotNamespace> | |
</plugin> | |
<pose frame=''>0.03825 0.012 0.128905 0 0 -1.5708</pose> | |
</sensor> | |
<gravity>1</gravity> | |
<velocity_decay/> | |
<self_collide>0</self_collide> | |
<sensor name='ir_left' type='ray'> | |
<ray> | |
<scan> | |
<horizontal> | |
<samples>1</samples> | |
<resolution>1</resolution> | |
<min_angle>-0.5</min_angle> | |
<max_angle>0.5</max_angle> | |
</horizontal> | |
</scan> | |
<range> | |
<min>0.004</min> | |
<max>0.4</max> | |
</range> | |
</ray> | |
<plugin name='plugin_4' filename='libgazebo_ros_laser.so'> | |
<gaussianNoise>0.005</gaussianNoise> | |
<alwaysOn>true</alwaysOn> | |
<updateRate>100</updateRate> | |
<topicName>/sim/laserscan/left_hand_range/state</topicName> | |
<frameName>left_hand_range</frameName> | |
</plugin> | |
<always_on>1</always_on> | |
<update_rate>100</update_rate> | |
<pose frame=''>0.032 -0.020245 0.14235 3.14159 -1.57079 1.57079</pose> | |
</sensor> | |
</link> | |
<joint name='left_w2' type='revolute'> | |
<child>left_wrist</child> | |
<parent>left_lower_forearm</parent> | |
<axis> | |
<xyz>0.707105 0.707108 0</xyz> | |
<limit> | |
<lower>-3.059</lower> | |
<upper>3.059</upper> | |
<effort>15</effort> | |
<velocity>4</velocity> | |
</limit> | |
<dynamics> | |
<damping>0.7</damping> | |
<friction>0</friction> | |
<spring_reference>0</spring_reference> | |
<spring_stiffness>0</spring_stiffness> | |
</dynamics> | |
<use_parent_model_frame>1</use_parent_model_frame> | |
</axis> | |
<physics> | |
<ode> | |
<implicit_spring_damper>1</implicit_spring_damper> | |
<cfm_damping>1</cfm_damping> | |
<limit> | |
<cfm>0</cfm> | |
<erp>0.2</erp> | |
</limit> | |
</ode> | |
</physics> | |
</joint> | |
<link name='l_gripper_l_finger'> | |
<pose frame=''>0.830342 1.02322 0.320976 -1.89253 1.57079 -1.10713</pose> | |
<inertial> | |
<pose frame=''>0 0.00575 0.037567 0 -0 3.14159</pose> | |
<mass>0.03</mass> | |
<inertia> | |
<ixx>0.0200867</ixx> | |
<ixy>4.0989e-19</ixy> | |
<ixz>-2.67795e-18</ixz> | |
<iyy>0.0200847</iyy> | |
<iyz>1.29605e-05</iyz> | |
<izz>0.020002</izz> | |
</inertia> | |
</inertial> | |
<collision name='l_gripper_l_finger_collision'> | |
<pose frame=''>0 0.01725 0.0615 0 -0 3.14159</pose> | |
<geometry> | |
<box> | |
<size>0.01 0.0135 0.1127</size> | |
</box> | |
</geometry> | |
<surface> | |
<contact> | |
<ode> | |
<kp>100000</kp> | |
<kd>1</kd> | |
</ode> | |
</contact> | |
<friction> | |
<ode> | |
<mu>1000</mu> | |
<mu2>1000</mu2> | |
<fdir1>0 0 1</fdir1> | |
</ode> | |
</friction> | |
</surface> | |
</collision> | |
<collision name='l_gripper_l_finger_collision_1'> | |
<pose frame=''>-0.005 -0.003 0.0083 0 -0 3.14159</pose> | |
<geometry> | |
<box> | |
<size>0.01 0.05 0.017</size> | |
</box> | |
</geometry> | |
<surface> | |
<contact> | |
<ode> | |
<kp>100000</kp> | |
<kd>1</kd> | |
</ode> | |
</contact> | |
<friction> | |
<ode> | |
<mu>1000</mu> | |
<mu2>1000</mu2> | |
<fdir1>0 0 1</fdir1> | |
</ode> | |
</friction> | |
</surface> | |
</collision> | |
<collision name='l_gripper_l_finger_tip_collision_2'> | |
<pose frame=''>0 0.01275 0.0977 0 -0 -3.14159</pose> | |
<geometry> | |
<box> | |
<size>0.042 0.0065 0.037</size> | |
</box> | |
</geometry> | |
<surface> | |
<contact> | |
<ode> | |
<kp>100000</kp> | |
<kd>1</kd> | |
</ode> | |
</contact> | |
<friction> | |
<ode> | |
<mu>1000</mu> | |
<mu2>1000</mu2> | |
<fdir1>0 0 1</fdir1> | |
</ode> | |
</friction> | |
</surface> | |
</collision> | |
<visual name='l_gripper_l_finger_visual'> | |
<pose frame=''>0 0 0 0 -0 3.14159</pose> | |
<geometry> | |
<mesh> | |
<scale>1 1 1</scale> | |
<uri>model://rethink_ee_description/meshes/electric_gripper/fingers/extended_narrow.DAE</uri> | |
</mesh> | |
</geometry> | |
<material> | |
<script> | |
<uri>__default__</uri> | |
<name>__default__</name> | |
</script> | |
</material> | |
</visual> | |
<visual name='l_gripper_l_finger_tip_visual_1'> | |
<pose frame=''>0 0.01725 0.1127 0 -0 -3.14159</pose> | |
<geometry> | |
<mesh> | |
<scale>1 1 1</scale> | |
<uri>model://rethink_ee_description/meshes/electric_gripper/fingers/paddle_tip.DAE</uri> | |
</mesh> | |
</geometry> | |
<material> | |
<script> | |
<uri>__default__</uri> | |
<name>__default__</name> | |
</script> | |
</material> | |
</visual> | |
<gravity>1</gravity> | |
<velocity_decay/> | |
<self_collide>0</self_collide> | |
</link> | |
<joint name='l_gripper_l_finger_joint' type='prismatic'> | |
<child>l_gripper_l_finger</child> | |
<parent>left_wrist</parent> | |
<axis> | |
<xyz>-0.707108 0.707105 0</xyz> | |
<limit> | |
<lower>0</lower> | |
<upper>0.020833</upper> | |
<effort>20</effort> | |
<velocity>5</velocity> | |
</limit> | |
<dynamics> | |
<damping>0.7</damping> | |
<friction>0</friction> | |
<spring_reference>0</spring_reference> | |
<spring_stiffness>0</spring_stiffness> | |
</dynamics> | |
<use_parent_model_frame>1</use_parent_model_frame> | |
</axis> | |
<physics> | |
<ode> | |
<implicit_spring_damper>1</implicit_spring_damper> | |
<cfm_damping>1</cfm_damping> | |
<limit> | |
<cfm>0</cfm> | |
<erp>0.2</erp> | |
</limit> | |
</ode> | |
</physics> | |
</joint> | |
<link name='l_gripper_r_finger'> | |
<pose frame=''>0.828221 1.02535 0.320976 -1.89253 1.57079 -1.10713</pose> | |
<inertial> | |
<pose frame=''>0 -0.00575 0.037567 0 -0 0</pose> | |
<mass>0.03</mass> | |
<inertia> | |
<ixx>0.0200867</ixx> | |
<ixy>0</ixy> | |
<ixz>0</ixz> | |
<iyy>0.0200847</iyy> | |
<iyz>1.29605e-05</iyz> | |
<izz>0.020002</izz> | |
</inertia> | |
</inertial> | |
<collision name='l_gripper_r_finger_collision'> | |
<pose frame=''>0 -0.01725 0.0615 0 -0 0</pose> | |
<geometry> | |
<box> | |
<size>0.01 0.0135 0.1127</size> | |
</box> | |
</geometry> | |
<surface> | |
<contact> | |
<ode> | |
<kp>100000</kp> | |
<kd>1</kd> | |
</ode> | |
</contact> | |
<friction> | |
<ode> | |
<mu>1000</mu> | |
<mu2>1000</mu2> | |
<fdir1>0 0 1</fdir1> | |
</ode> | |
</friction> | |
</surface> | |
</collision> | |
<collision name='l_gripper_r_finger_collision_1'> | |
<pose frame=''>0.005 0.003 0.0083 0 -0 0</pose> | |
<geometry> | |
<box> | |
<size>0.01 0.05 0.017</size> | |
</box> | |
</geometry> | |
<surface> | |
<contact> | |
<ode> | |
<kp>100000</kp> | |
<kd>1</kd> | |
</ode> | |
</contact> | |
<friction> | |
<ode> | |
<mu>1000</mu> | |
<mu2>1000</mu2> | |
<fdir1>0 0 1</fdir1> | |
</ode> | |
</friction> | |
</surface> | |
</collision> | |
<collision name='l_gripper_r_finger_tip_collision_2'> | |
<pose frame=''>0 -0.01275 0.0977 0 -0 0</pose> | |
<geometry> | |
<box> | |
<size>0.042 0.0065 0.037</size> | |
</box> | |
</geometry> | |
<surface> | |
<contact> | |
<ode> | |
<kp>100000</kp> | |
<kd>1</kd> | |
</ode> | |
</contact> | |
<friction> | |
<ode> | |
<mu>1000</mu> | |
<mu2>1000</mu2> | |
<fdir1>0 0 1</fdir1> | |
</ode> | |
</friction> | |
</surface> | |
</collision> | |
<visual name='l_gripper_r_finger_visual'> | |
<pose frame=''>0 0 0 0 -0 0</pose> | |
<geometry> | |
<mesh> | |
<scale>1 1 1</scale> | |
<uri>model://rethink_ee_description/meshes/electric_gripper/fingers/extended_narrow.DAE</uri> | |
</mesh> | |
</geometry> | |
<material> | |
<script> | |
<uri>__default__</uri> | |
<name>__default__</name> | |
</script> | |
</material> | |
</visual> | |
<visual name='l_gripper_r_finger_tip_visual_1'> | |
<pose frame=''>0 -0.01725 0.1127 0 -0 0</pose> | |
<geometry> | |
<mesh> | |
<scale>1 1 1</scale> | |
<uri>model://rethink_ee_description/meshes/electric_gripper/fingers/paddle_tip.DAE</uri> | |
</mesh> | |
</geometry> | |
<material> | |
<script> | |
<uri>__default__</uri> | |
<name>__default__</name> | |
</script> | |
</material> | |
</visual> | |
<gravity>1</gravity> | |
<velocity_decay/> | |
<self_collide>0</self_collide> | |
</link> | |
<joint name='l_gripper_r_finger_joint' type='prismatic'> | |
<child>l_gripper_r_finger</child> | |
<parent>left_wrist</parent> | |
<axis> | |
<xyz>-0.707108 0.707105 0</xyz> | |
<limit> | |
<lower>-0.020833</lower> | |
<upper>0</upper> | |
<effort>20</effort> | |
<velocity>5</velocity> | |
</limit> | |
<dynamics> | |
<damping>0.7</damping> | |
<friction>0</friction> | |
<spring_reference>0</spring_reference> | |
<spring_stiffness>0</spring_stiffness> | |
</dynamics> | |
<use_parent_model_frame>1</use_parent_model_frame> | |
</axis> | |
<physics> | |
<ode> | |
<implicit_spring_damper>1</implicit_spring_damper> | |
<cfm_damping>1</cfm_damping> | |
<limit> | |
<cfm>0</cfm> | |
<erp>0.2</erp> | |
</limit> | |
</ode> | |
</physics> | |
</joint> | |
<link name='right_upper_shoulder'> | |
<pose frame=''>0.064027 -0.259027 0.129626 0 0 -0.7854</pose> | |
<inertial> | |
<pose frame=''>0.01783 0.00086 0.19127 0 -0 0</pose> | |
<mass>5.70044</mass> | |
<inertia> | |
<ixx>0.047091</ixx> | |
<ixy>0.000127876</ixy> | |
<ixz>0.0061487</ixz> | |
<iyy>0.0376698</iyy> | |
<iyz>0.000780869</iyz> | |
<izz>0.0359599</izz> | |
</inertia> | |
</inertial> | |
<collision name='right_upper_shoulder_collision'> | |
<pose frame=''>0 0 0.1361 0 -0 0</pose> | |
<geometry> | |
<cylinder> | |
<length>0.2722</length> | |
<radius>0.06</radius> | |
</cylinder> | |
</geometry> | |
</collision> | |
<visual name='right_upper_shoulder_visual'> | |
<pose frame=''>0 0 0 0 -0 0</pose> | |
<geometry> | |
<mesh> | |
<scale>1 1 1</scale> | |
<uri>model://baxter_description/meshes/upper_shoulder/S0.DAE</uri> | |
</mesh> | |
</geometry> | |
</visual> | |
</link> | |
<joint name='right_s0' type='revolute'> | |
<child>right_upper_shoulder</child> | |
<parent>base</parent> | |
<axis> | |
<xyz>0 0 1</xyz> | |
<limit> | |
<lower>-1.70168</lower> | |
<upper>1.70168</upper> | |
<effort>50</effort> | |
<velocity>1.5</velocity> | |
</limit> | |
<dynamics> | |
<damping>0.7</damping> | |
<friction>0</friction> | |
<spring_reference>0</spring_reference> | |
<spring_stiffness>0</spring_stiffness> | |
</dynamics> | |
<use_parent_model_frame>1</use_parent_model_frame> | |
</axis> | |
<physics> | |
<ode> | |
<implicit_spring_damper>1</implicit_spring_damper> | |
<cfm_damping>1</cfm_damping> | |
<limit> | |
<cfm>0</cfm> | |
<erp>0.2</erp> | |
</limit> | |
</ode> | |
</physics> | |
</joint> | |
<link name='right_lower_shoulder'> | |
<pose frame=''>0.112818 -0.307818 0.399976 -1.5708 -0 -0.7854</pose> | |
<inertial> | |
<pose frame=''>0.068451 0.00269 -0.00529 0 -0 0</pose> | |
<mass>3.22708</mass> | |
<inertia> | |
<ixx>0.0117521</ixx> | |
<ixy>-0.000300954</ixy> | |
<ixz>0.00207674</ixz> | |
<iyy>0.0278861</iyy> | |
<iyz>-0.000188219</iyz> | |
<izz>0.0207877</izz> | |
</inertia> | |
</inertial> | |
<collision name='right_lower_shoulder_collision'> | |
<pose frame=''>0 0 0 0 -0 0</pose> | |
<geometry> | |
<cylinder> | |
<length>0.12</length> | |
<radius>0.06</radius> | |
</cylinder> | |
</geometry> | |
</collision> | |
<collision name='right_lower_shoulder_fixed_joint_lump__right_upper_elbow_visual_collision_1'> | |
<pose frame=''>0.2435 -0 0 1.5708 -0 1.5708</pose> | |
<geometry> | |
<cylinder> | |
<length>0.273</length> | |
<radius>0.06</radius> | |
</cylinder> | |
</geometry> | |
</collision> | |
<visual name='right_lower_shoulder_visual'> | |
<pose frame=''>0 0 0 0 -0 0</pose> | |
<geometry> | |
<mesh> | |
<scale>1 1 1</scale> | |
<uri>model://baxter_description/meshes/lower_shoulder/S1.DAE</uri> | |
</mesh> | |
</geometry> | |
</visual> | |
</link> | |
<joint name='right_s1' type='revolute'> | |
<child>right_lower_shoulder</child> | |
<parent>right_upper_shoulder</parent> | |
<axis> | |
<xyz>0.707108 0.707105 0</xyz> | |
<limit> | |
<lower>-2.147</lower> | |
<upper>1.047</upper> | |
<effort>50</effort> | |
<velocity>1.5</velocity> | |
</limit> | |
<dynamics> | |
<damping>0.7</damping> | |
<friction>0</friction> | |
<spring_reference>0</spring_reference> | |
<spring_stiffness>0</spring_stiffness> | |
</dynamics> | |
<use_parent_model_frame>1</use_parent_model_frame> | |
</axis> | |
<physics> | |
<ode> | |
<implicit_spring_damper>1</implicit_spring_damper> | |
<cfm_damping>1</cfm_damping> | |
<limit> | |
<cfm>0</cfm> | |
<erp>0.2</erp> | |
</limit> | |
</ode> | |
</physics> | |
</joint> | |
<link name='right_upper_elbow'> | |
<pose frame=''>0.184942 -0.379943 0.399976 -2.35618 1.57079 -3.14159</pose> | |
<inertial> | |
<pose frame=''>-0.00276 0.00132 0.18086 0 -0 0</pose> | |
<mass>4.31272</mass> | |
<inertia> | |
<ixx>0.0266173</ixx> | |
<ixy>0.000292706</ixy> | |
<ixz>0.0039219</ixz> | |
<iyy>0.0284436</iyy> | |
<iyz>0.00108389</iyz> | |
<izz>0.0124801</izz> | |
</inertia> | |
</inertial> | |
<collision name='right_upper_elbow_collision'> | |
<pose frame=''>0 0 -0.0535 0 -0 0</pose> | |
<geometry> | |
<cylinder> | |
<length>0.107</length> | |
<radius>0.06</radius> | |
</cylinder> | |
</geometry> | |
</collision> | |
<visual name='right_upper_elbow_visual'> | |
<pose frame=''>0 0 0 0 -0 0</pose> | |
<geometry> | |
<mesh> | |
<scale>1 1 1</scale> | |
<uri>model://baxter_description/meshes/upper_elbow/E0.DAE</uri> | |
</mesh> | |
</geometry> | |
</visual> | |
</link> | |
<joint name='right_e0' type='revolute'> | |
<child>right_upper_elbow</child> | |
<parent>right_lower_shoulder</parent> | |
<axis> | |
<xyz>0.707105 -0.707108 0</xyz> | |
<limit> | |
<lower>-3.05418</lower> | |
<upper>3.05418</upper> | |
<effort>50</effort> | |
<velocity>1.5</velocity> | |
</limit> | |
<dynamics> | |
<damping>0.7</damping> | |
<friction>0</friction> | |
<spring_reference>0</spring_reference> | |
<spring_stiffness>0</spring_stiffness> | |
</dynamics> | |
<use_parent_model_frame>1</use_parent_model_frame> | |
</axis> | |
<physics> | |
<ode> | |
<implicit_spring_damper>1</implicit_spring_damper> | |
<cfm_damping>1</cfm_damping> | |
<limit> | |
<cfm>0</cfm> | |
<erp>0.2</erp> | |
</limit> | |
</ode> | |
</physics> | |
</joint> | |
<link name='right_lower_elbow'> | |
<pose frame=''>0.370501 -0.565502 0.330976 -1.5708 0 -0.7854</pose> | |
<inertial> | |
<pose frame=''>0.026113 0.00159 -0.01117 0 -0 0</pose> | |
<mass>2.07216</mass> | |
<inertia> | |
<ixx>0.00711585</ixx> | |
<ixy>0.000360372</ixy> | |
<ixz>0.00074588</ixz> | |
<iyy>0.0131827</iyy> | |
<iyz>-0.000196632</iyz> | |
<izz>0.00926891</izz> | |
</inertia> | |
</inertial> | |
<collision name='right_lower_elbow_collision'> | |
<pose frame=''>0 0 0 0 -0 0</pose> | |
<geometry> | |
<cylinder> | |
<length>0.1</length> | |
<radius>0.06</radius> | |
</cylinder> | |
</geometry> | |
</collision> | |
<collision name='right_lower_elbow_fixed_joint_lump__right_upper_forearm_visual_collision_1'> | |
<pose frame=''>0.224 -0 0 1.5708 -0 1.5708</pose> | |
<geometry> | |
<cylinder> | |
<length>0.272</length> | |
<radius>0.06</radius> | |
</cylinder> | |
</geometry> | |
</collision> | |
<visual name='right_lower_elbow_visual'> | |
<pose frame=''>0 0 0 0 -0 0</pose> | |
<geometry> | |
<mesh> | |
<scale>1 1 1</scale> | |
<uri>model://baxter_description/meshes/lower_elbow/E1.DAE</uri> | |
</mesh> | |
</geometry> | |
</visual> | |
</link> | |
<joint name='right_e1' type='revolute'> | |
<child>right_lower_elbow</child> | |
<parent>right_upper_elbow</parent> | |
<axis> | |
<xyz>0.707108 0.707105 0</xyz> | |
<limit> | |
<lower>-0.05</lower> | |
<upper>2.618</upper> | |
<effort>50</effort> | |
<velocity>1.5</velocity> | |
</limit> | |
<dynamics> | |
<damping>0.7</damping> | |
<friction>0</friction> | |
<spring_reference>0</spring_reference> | |
<spring_stiffness>0</spring_stiffness> | |
</dynamics> | |
<use_parent_model_frame>1</use_parent_model_frame> | |
</axis> | |
<physics> | |
<ode> | |
<implicit_spring_damper>1</implicit_spring_damper> | |
<cfm_damping>1</cfm_damping> | |
<limit> | |
<cfm>0</cfm> | |
<erp>0.2</erp> | |
</limit> | |
</ode> | |
</physics> | |
</joint> | |
<link name='right_upper_forearm'> | |
<pose frame=''>0.44375 -0.638751 0.330976 -2.03443 1.57079 -2.81983</pose> | |
<inertial> | |
<pose frame=''>-0.001682 0.0046 0.139519 0 -0 0</pose> | |
<mass>2.24675</mass> | |
<inertia> | |
<ixx>0.0166775</ixx> | |
<ixy>0.000184012</ixy> | |
<ixz>0.000186469</ixz> | |
<iyy>0.0167549</iyy> | |
<iyz>-0.000647332</iyz> | |
<izz>0.00374662</izz> | |
</inertia> | |
</inertial> | |
<collision name='right_upper_forearm_collision'> | |
<pose frame=''>0 0 -0.044 0 -0 0</pose> | |
<geometry> | |
<cylinder> | |
<length>0.088</length> | |
<radius>0.06</radius> | |
</cylinder> | |
</geometry> | |
</collision> | |
<visual name='right_upper_forearm_visual'> | |
<pose frame=''>0 0 0 0 -0 0</pose> | |
<geometry> | |
<mesh> | |
<scale>1 1 1</scale> | |
<uri>model://baxter_description/meshes/upper_forearm/W0.DAE</uri> | |
</mesh> | |
</geometry> | |
</visual> | |
</link> | |
<joint name='right_w0' type='revolute'> | |
<child>right_upper_forearm</child> | |
<parent>right_lower_elbow</parent> | |
<axis> | |
<xyz>0.707105 -0.707108 0</xyz> | |
<limit> | |
<lower>-3.059</lower> | |
<upper>3.059</upper> | |
<effort>15</effort> | |
<velocity>4</velocity> | |
</limit> | |
<dynamics> | |
<damping>0.7</damping> | |
<friction>0</friction> | |
<spring_reference>0</spring_reference> | |
<spring_stiffness>0</spring_stiffness> | |
</dynamics> | |
<use_parent_model_frame>1</use_parent_model_frame> | |
</axis> | |
<physics> | |
<ode> | |
<implicit_spring_damper>1</implicit_spring_damper> | |
<cfm_damping>1</cfm_damping> | |
<limit> | |
<cfm>0</cfm> | |
<erp>0.2</erp> | |
</limit> | |
</ode> | |
</physics> | |
</joint> | |
<link name='right_lower_forearm'> | |
<pose frame=''>0.635163 -0.830166 0.320976 -1.5708 -0 -0.7854</pose> | |
<inertial> | |
<pose frame=''>0.06041 0.00697 0.006 0 -0 0</pose> | |
<mass>1.60979</mass> | |
<inertia> | |
<ixx>0.00387607</ixx> | |
<ixy>-0.000443848</ixy> | |
<ixz>-0.00021115</ixz> | |
<iyy>0.00700538</iyy> | |
<iyz>0.000153481</iyz> | |
<izz>0.00552755</izz> | |
</inertia> | |
</inertial> | |
<collision name='right_lower_forearm_collision'> | |
<pose frame=''>0 0 0 0 -0 0</pose> | |
<geometry> | |
<cylinder> | |
<length>0.1</length> | |
<radius>0.06</radius> | |
</cylinder> | |
</geometry> | |
</collision> | |
<visual name='right_lower_forearm_visual'> | |
<pose frame=''>0 0 0 0 -0 0</pose> | |
<geometry> | |
<mesh> | |
<scale>1 1 1</scale> | |
<uri>model://baxter_description/meshes/lower_forearm/W1.DAE</uri> | |
</mesh> | |
</geometry> | |
</visual> | |
</link> | |
<joint name='right_w1' type='revolute'> | |
<child>right_lower_forearm</child> | |
<parent>right_upper_forearm</parent> | |
<axis> | |
<xyz>0.707108 0.707105 0</xyz> | |
<limit> | |
<lower>-1.5708</lower> | |
<upper>2.094</upper> | |
<effort>15</effort> | |
<velocity>4</velocity> | |
</limit> | |
<dynamics> | |
<damping>0.7</damping> | |
<friction>0</friction> | |
<spring_reference>0</spring_reference> | |
<spring_stiffness>0</spring_stiffness> | |
</dynamics> | |
<use_parent_model_frame>1</use_parent_model_frame> | |
</axis> | |
<physics> | |
<ode> | |
<implicit_spring_damper>1</implicit_spring_damper> | |
<cfm_damping>1</cfm_damping> | |
<limit> | |
<cfm>0</cfm> | |
<erp>0.2</erp> | |
</limit> | |
</ode> | |
</physics> | |
</joint> | |
<link name='right_wrist'> | |
<pose frame=''>0.71717 -0.912173 0.320976 -1.89254 1.57079 -2.67794</pose> | |
<inertial> | |
<pose frame=''>0.003318 0.000616 0.079435 0 -0 0</pose> | |
<mass>0.84268</mass> | |
<inertia> | |
<ixx>0.00285059</ixx> | |
<ixy>7.17373e-06</ixy> | |
<ixz>2.52032e-05</ixz> | |
<iyy>0.00291735</iyy> | |
<iyz>2.17353e-05</iyz> | |
<izz>0.000560608</izz> | |
</inertia> | |
</inertial> | |
<collision name='right_wrist_collision'> | |
<pose frame=''>0 0 0 0 -0 0</pose> | |
<geometry> | |
<cylinder> | |
<length>0.165</length> | |
<radius>0.06</radius> | |
</cylinder> | |
</geometry> | |
</collision> | |
<collision name='right_wrist_fixed_joint_lump__right_hand_collision_1'> | |
<pose frame=''>0 0 0.09035 0 -0 0</pose> | |
<geometry> | |
<cylinder> | |
<length>0.0464</length> | |
<radius>0.04</radius> | |
</cylinder> | |
</geometry> | |
</collision> | |
<collision name='right_wrist_fixed_joint_lump__right_gripper_base_collision_2'> | |
<pose frame=''>0 0 0.13855 1.5708 -0 3.14159</pose> | |
<geometry> | |
<cylinder> | |
<length>0.1</length> | |
<radius>0.029</radius> | |
</cylinder> | |
</geometry> | |
</collision> | |
<visual name='right_wrist_visual'> | |
<pose frame=''>0 0 0 0 -0 0</pose> | |
<geometry> | |
<mesh> | |
<scale>1 1 1</scale> | |
<uri>model://baxter_description/meshes/wrist/W2.DAE</uri> | |
</mesh> | |
</geometry> | |
</visual> | |
<visual name='right_wrist_fixed_joint_lump__right_gripper_base_visual_1'> | |
<pose frame=''>0 0 0.13855 1.5708 -0 3.14159</pose> | |
<geometry> | |
<mesh> | |
<scale>1 1 1</scale> | |
<uri>model://rethink_ee_description/meshes/electric_gripper/electric_gripper_base.DAE</uri> | |
</mesh> | |
</geometry> | |
</visual> | |
<visual name='right_wrist_fixed_joint_lump__right_hand_accelerometer_visual_2'> | |
<pose frame=''>0.00198 0.000133 0.09895 0 -0 0</pose> | |
<geometry> | |
<box> | |
<size>0.01 0.01 0.01</size> | |
</box> | |
</geometry> | |
</visual> | |
<visual name='right_wrist_fixed_joint_lump__right_hand_camera_visual_3'> | |
<pose frame=''>0.03825 0.012 0.128905 0 0 -1.5708</pose> | |
<geometry> | |
<cylinder> | |
<length>0.01</length> | |
<radius>0.02</radius> | |
</cylinder> | |
</geometry> | |
<material> | |
<script> | |
<uri>__default__</uri> | |
<name>__default__</name> | |
</script> | |
</material> | |
</visual> | |
<visual name='right_wrist_fixed_joint_lump__right_hand_range_visual_4'> | |
<pose frame=''>0.032 -0.020245 0.14235 3.14159 -1.57079 1.57079</pose> | |
<geometry> | |
<box> | |
<size>0.005 0.02 0.005</size> | |
</box> | |
</geometry> | |
<material> | |
<script> | |
<uri>__default__</uri> | |
<name>__default__</name> | |
</script> | |
</material> | |
</visual> | |
<velocity_decay/> | |
<sensor name='right_hand_camera' type='camera'> | |
<update_rate>30</update_rate> | |
<camera name='right_hand_camera'> | |
<pose frame=''>0 0 0 -3.14159 -1.5708 -1.5708</pose> | |
<horizontal_fov>1.39626</horizontal_fov> | |
<image> | |
<width>800</width> | |
<height>800</height> | |
<format>R8G8B8</format> | |
</image> | |
<clip> | |
<near>0.02</near> | |
<far>300</far> | |
</clip> | |
<noise> | |
<type>gaussian</type> | |
<mean>0</mean> | |
<stddev>0.007</stddev> | |
</noise> | |
</camera> | |
<plugin name='camera_controller' filename='libgazebo_ros_camera.so'> | |
<alwaysOn>true</alwaysOn> | |
<updateRate>0.0</updateRate> | |
<cameraName>right_hand_camera</cameraName> | |
<imageTopicName>image</imageTopicName> | |
<cameraInfoTopicName>camera_info</cameraInfoTopicName> | |
<frameName>right_hand_camera</frameName> | |
<hackBaseline>0.07</hackBaseline> | |
<distortionK1>0.0</distortionK1> | |
<distortionK2>0.0</distortionK2> | |
<distortionK3>0.0</distortionK3> | |
<distortionT1>0.0</distortionT1> | |
<distortionT2>0.0</distortionT2> | |
<CxPrime>0</CxPrime> | |
<Cx>0.0</Cx> | |
<Cy>0.0</Cy> | |
<focalLength>0.0</focalLength> | |
<robotNamespace>/cameras</robotNamespace> | |
</plugin> | |
<pose frame=''>0.03825 0.012 0.128905 0 0 -1.5708</pose> | |
</sensor> | |
<gravity>1</gravity> | |
<velocity_decay/> | |
<self_collide>0</self_collide> | |
<sensor name='ir_right' type='ray'> | |
<ray> | |
<scan> | |
<horizontal> | |
<samples>1</samples> | |
<resolution>1</resolution> | |
<min_angle>-0.5</min_angle> | |
<max_angle>0.5</max_angle> | |
</horizontal> | |
</scan> | |
<range> | |
<min>0.004</min> | |
<max>0.4</max> | |
</range> | |
</ray> | |
<plugin name='plugin_3' filename='libgazebo_ros_laser.so'> | |
<gaussianNoise>0.005</gaussianNoise> | |
<alwaysOn>true</alwaysOn> | |
<updateRate>100</updateRate> | |
<topicName>/sim/laserscan/right_hand_range/state</topicName> | |
<frameName>right_hand_range</frameName> | |
</plugin> | |
<always_on>1</always_on> | |
<update_rate>100</update_rate> | |
<pose frame=''>0.032 -0.020245 0.14235 3.14159 -1.57079 1.57079</pose> | |
</sensor> | |
</link> | |
<joint name='right_w2' type='revolute'> | |
<child>right_wrist</child> | |
<parent>right_lower_forearm</parent> | |
<axis> | |
<xyz>0.707105 -0.707108 0</xyz> | |
<limit> | |
<lower>-3.059</lower> | |
<upper>3.059</upper> | |
<effort>15</effort> | |
<velocity>4</velocity> | |
</limit> | |
<dynamics> | |
<damping>0.7</damping> | |
<friction>0</friction> | |
<spring_reference>0</spring_reference> | |
<spring_stiffness>0</spring_stiffness> | |
</dynamics> | |
<use_parent_model_frame>1</use_parent_model_frame> | |
</axis> | |
<physics> | |
<ode> | |
<implicit_spring_damper>1</implicit_spring_damper> | |
<cfm_damping>1</cfm_damping> | |
<limit> | |
<cfm>0</cfm> | |
<erp>0.2</erp> | |
</limit> | |
</ode> | |
</physics> | |
</joint> | |
<link name='r_gripper_l_finger'> | |
<pose frame=''>0.828221 -1.02535 0.320976 -1.89254 1.57079 -2.67794</pose> | |
<inertial> | |
<pose frame=''>0 0.00575 0.037567 0 -0 3.14159</pose> | |
<mass>0.03</mass> | |
<inertia> | |
<ixx>0.0200867</ixx> | |
<ixy>4.0989e-19</ixy> | |
<ixz>-2.67795e-18</ixz> | |
<iyy>0.0200847</iyy> | |
<iyz>1.29605e-05</iyz> | |
<izz>0.020002</izz> | |
</inertia> | |
</inertial> | |
<collision name='r_gripper_l_finger_collision'> | |
<pose frame=''>0 0.01725 0.0615 0 -0 3.14159</pose> | |
<geometry> | |
<box> | |
<size>0.01 0.0135 0.1127</size> | |
</box> | |
</geometry> | |
<surface> | |
<contact> | |
<ode> | |
<kp>100000</kp> | |
<kd>1</kd> | |
</ode> | |
</contact> | |
<friction> | |
<ode> | |
<mu>1000</mu> | |
<mu2>1000</mu2> | |
<fdir1>0 0 1</fdir1> | |
</ode> | |
</friction> | |
</surface> | |
</collision> | |
<collision name='r_gripper_l_finger_collision_1'> | |
<pose frame=''>-0.005 -0.003 0.0083 0 -0 3.14159</pose> | |
<geometry> | |
<box> | |
<size>0.01 0.05 0.017</size> | |
</box> | |
</geometry> | |
<surface> | |
<contact> | |
<ode> | |
<kp>100000</kp> | |
<kd>1</kd> | |
</ode> | |
</contact> | |
<friction> | |
<ode> | |
<mu>1000</mu> | |
<mu2>1000</mu2> | |
<fdir1>0 0 1</fdir1> | |
</ode> | |
</friction> | |
</surface> | |
</collision> | |
<collision name='r_gripper_l_finger_tip_collision_2'> | |
<pose frame=''>0 0.01275 0.0977 0 -0 -3.14159</pose> | |
<geometry> | |
<cylinder> | |
<length>0.037</length> | |
<radius>0.008</radius> | |
</cylinder> | |
</geometry> | |
<surface> | |
<contact> | |
<ode> | |
<kp>100000</kp> | |
<kd>1</kd> | |
</ode> | |
</contact> | |
<friction> | |
<ode> | |
<mu>1000</mu> | |
<mu2>1000</mu2> | |
<fdir1>0 0 1</fdir1> | |
</ode> | |
</friction> | |
</surface> | |
</collision> | |
<visual name='r_gripper_l_finger_visual'> | |
<pose frame=''>0 0 0 0 -0 3.14159</pose> | |
<geometry> | |
<mesh> | |
<scale>1 1 1</scale> | |
<uri>model://rethink_ee_description/meshes/electric_gripper/fingers/extended_narrow.DAE</uri> | |
</mesh> | |
</geometry> | |
<material> | |
<script> | |
<uri>__default__</uri> | |
<name>__default__</name> | |
</script> | |
</material> | |
</visual> | |
<visual name='r_gripper_l_finger_tip_visual_1'> | |
<pose frame=''>0 0.01725 0.1127 0 -0 -3.14159</pose> | |
<geometry> | |
<mesh> | |
<scale>1 1 1</scale> | |
<uri>model://rethink_ee_description/meshes/electric_gripper/fingers/half_round_tip.DAE</uri> | |
</mesh> | |
</geometry> | |
<material> | |
<script> | |
<uri>__default__</uri> | |
<name>__default__</name> | |
</script> | |
</material> | |
</visual> | |
<gravity>1</gravity> | |
<velocity_decay/> | |
<self_collide>0</self_collide> | |
</link> | |
<joint name='r_gripper_l_finger_joint' type='prismatic'> | |
<child>r_gripper_l_finger</child> | |
<parent>right_wrist</parent> | |
<axis> | |
<xyz>0.707108 0.707105 0</xyz> | |
<limit> | |
<lower>0</lower> | |
<upper>0.020833</upper> | |
<effort>20</effort> | |
<velocity>5</velocity> | |
</limit> | |
<dynamics> | |
<damping>0.7</damping> | |
<friction>0</friction> | |
<spring_reference>0</spring_reference> | |
<spring_stiffness>0</spring_stiffness> | |
</dynamics> | |
<use_parent_model_frame>1</use_parent_model_frame> | |
</axis> | |
<physics> | |
<ode> | |
<implicit_spring_damper>1</implicit_spring_damper> | |
<cfm_damping>1</cfm_damping> | |
<limit> | |
<cfm>0</cfm> | |
<erp>0.2</erp> | |
</limit> | |
</ode> | |
</physics> | |
</joint> | |
<link name='r_gripper_r_finger'> | |
<pose frame=''>0.830342 -1.02322 0.320976 -1.89254 1.57079 -2.67794</pose> | |
<inertial> | |
<pose frame=''>0 -0.00575 0.037567 0 -0 0</pose> | |
<mass>0.03</mass> | |
<inertia> | |
<ixx>0.0200867</ixx> | |
<ixy>0</ixy> | |
<ixz>0</ixz> | |
<iyy>0.0200847</iyy> | |
<iyz>1.29605e-05</iyz> | |
<izz>0.020002</izz> | |
</inertia> | |
</inertial> | |
<collision name='r_gripper_r_finger_collision'> | |
<pose frame=''>0 -0.01725 0.0615 0 -0 0</pose> | |
<geometry> | |
<box> | |
<size>0.01 0.0135 0.1127</size> | |
</box> | |
</geometry> | |
<surface> | |
<contact> | |
<ode> | |
<kp>100000</kp> | |
<kd>1</kd> | |
</ode> | |
</contact> | |
<friction> | |
<ode> | |
<mu>1000</mu> | |
<mu2>1000</mu2> | |
<fdir1>0 0 1</fdir1> | |
</ode> | |
</friction> | |
</surface> | |
</collision> | |
<collision name='r_gripper_r_finger_collision_1'> | |
<pose frame=''>0.005 0.003 0.0083 0 -0 0</pose> | |
<geometry> | |
<box> | |
<size>0.01 0.05 0.017</size> | |
</box> | |
</geometry> | |
<surface> | |
<contact> | |
<ode> | |
<kp>100000</kp> | |
<kd>1</kd> | |
</ode> | |
</contact> | |
<friction> | |
<ode> | |
<mu>1000</mu> | |
<mu2>1000</mu2> | |
<fdir1>0 0 1</fdir1> | |
</ode> | |
</friction> | |
</surface> | |
</collision> | |
<collision name='r_gripper_r_finger_tip_collision_2'> | |
<pose frame=''>0 -0.01275 0.0977 0 -0 0</pose> | |
<geometry> | |
<cylinder> | |
<length>0.037</length> | |
<radius>0.008</radius> | |
</cylinder> | |
</geometry> | |
<surface> | |
<contact> | |
<ode> | |
<kp>100000</kp> | |
<kd>1</kd> | |
</ode> | |
</contact> | |
<friction> | |
<ode> | |
<mu>1000</mu> | |
<mu2>1000</mu2> | |
<fdir1>0 0 1</fdir1> | |
</ode> | |
</friction> | |
</surface> | |
</collision> | |
<visual name='r_gripper_r_finger_visual'> | |
<pose frame=''>0 0 0 0 -0 0</pose> | |
<geometry> | |
<mesh> | |
<scale>1 1 1</scale> | |
<uri>model://rethink_ee_description/meshes/electric_gripper/fingers/extended_narrow.DAE</uri> | |
</mesh> | |
</geometry> | |
<material> | |
<script> | |
<uri>__default__</uri> | |
<name>__default__</name> | |
</script> | |
</material> | |
</visual> | |
<visual name='r_gripper_r_finger_tip_visual_1'> | |
<pose frame=''>0 -0.01725 0.1127 0 -0 0</pose> | |
<geometry> | |
<mesh> | |
<scale>1 1 1</scale> | |
<uri>model://rethink_ee_description/meshes/electric_gripper/fingers/half_round_tip.DAE</uri> | |
</mesh> | |
</geometry> | |
<material> | |
<script> | |
<uri>__default__</uri> | |
<name>__default__</name> | |
</script> | |
</material> | |
</visual> | |
<gravity>1</gravity> | |
<velocity_decay/> | |
<self_collide>0</self_collide> | |
</link> | |
<joint name='r_gripper_r_finger_joint' type='prismatic'> | |
<child>r_gripper_r_finger</child> | |
<parent>right_wrist</parent> | |
<axis> | |
<xyz>0.707108 0.707105 0</xyz> | |
<limit> | |
<lower>-0.020833</lower> | |
<upper>0</upper> | |
<effort>20</effort> | |
<velocity>5</velocity> | |
</limit> | |
<dynamics> | |
<damping>0.7</damping> | |
<friction>0</friction> | |
<spring_reference>0</spring_reference> | |
<spring_stiffness>0</spring_stiffness> | |
</dynamics> | |
<use_parent_model_frame>1</use_parent_model_frame> | |
</axis> | |
<physics> | |
<ode> | |
<implicit_spring_damper>1</implicit_spring_damper> | |
<cfm_damping>1</cfm_damping> | |
<limit> | |
<cfm>0</cfm> | |
<erp>0.2</erp> | |
</limit> | |
</ode> | |
</physics> | |
</joint> | |
<static>0</static> | |
<plugin name='baxter_ros_control' filename='libbaxter_gazebo_ros_control.so'> | |
<robotNamespace>/robot</robotNamespace> | |
</plugin> | |
</model> | |
</sdf> |
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