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Merged in jrtaylor/gazebo_models/ur10 (pull request #92)

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Moved ur_description to ur10_description per request
This commit is contained in:
Nathan Koenig 2014-11-25 09:28:04 -08:00
commit 0c05b31798
16 changed files with 2601 additions and 0 deletions
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<?xml version="1.0"?>
<model>
<name>universal robotics ur10 robot arm</name>
<version>1.0.2</version>
<sdf>ur10.urdf</sdf>
<author>
<name>Kelsey Hawkins</name>
<email>kphawkins@gatech.edu</email>
</author>
<description>
The xacro expanded ur10 robot arm model built by Kelsey Hawkins.
Taken from git@github.com:ros-industrial/universal_robot.git for gazebo testing and integration purposes.
</description>
</model>

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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from urdf/ur10_robot.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="ur10" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- common stuff -->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="ros_control">
<!--robotNamespace>/</robotNamespace-->
<!--robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType-->
</plugin>
<!--
<plugin name="gazebo_ros_power_monitor_controller" filename="libgazebo_ros_power_monitor.so">
<alwaysOn>true</alwaysOn>
<updateRate>1.0</updateRate>
<timeout>5</timeout>
<powerStateTopic>power_state</powerStateTopic>
<powerStateRate>10.0</powerStateRate>
<fullChargeCapacity>87.78</fullChargeCapacity>
<dischargeRate>-474</dischargeRate>
<chargeRate>525</chargeRate>
<dischargeVoltage>15.52</dischargeVoltage>
<chargeVoltage>16.41</chargeVoltage>
</plugin>
-->
</gazebo>
<!-- ur10 -->
<!-- arm -->
<link name="base_link">
<visual>
<geometry>
<mesh filename="package://ur10_description/meshes/ur10/visual/Base.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://ur10_description/meshes/ur10/collision/Base.dae"/>
</geometry>
</collision>
<inertial>
<mass value="4.0"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<inertia ixx="0.0061063308908" ixy="0.0" ixz="0.0" iyy="0.0061063308908" iyz="0.0" izz="0.01125"/>
</inertial>
</link>
<joint name="shoulder_pan_joint" type="revolute">
<parent link="base_link"/>
<child link="shoulder_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.1273"/>
<axis xyz="0 0 1"/>
<limit effort="330.0" lower="-6.2831853" upper="6.2831853" velocity="2.16"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="shoulder_link">
<visual>
<geometry>
<mesh filename="package://ur10_description/meshes/ur10/visual/Shoulder.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://ur10_description/meshes/ur10/collision/Shoulder.dae"/>
</geometry>
</collision>
<inertial>
<mass value="7.778"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<inertia ixx="0.0314743125769" ixy="0.0" ixz="0.0" iyy="0.0314743125769" iyz="0.0" izz="0.021875625"/>
</inertial>
</link>
<joint name="shoulder_lift_joint" type="revolute">
<parent link="shoulder_link"/>
<child link="upper_arm_link"/>
<origin rpy="0.0 1.570796325 0.0" xyz="0.0 0.220941 0.0"/>
<axis xyz="0 1 0"/>
<limit effort="330.0" lower="-6.2831853" upper="6.2831853" velocity="2.16"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="upper_arm_link">
<visual>
<geometry>
<mesh filename="package://ur10_description/meshes/ur10/visual/UpperArm.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://ur10_description/meshes/ur10/collision/UpperArm.dae"/>
</geometry>
</collision>
<inertial>
<mass value="12.93"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.306"/>
<inertia ixx="0.421753803798" ixy="0.0" ixz="0.0" iyy="0.421753803798" iyz="0.0" izz="0.036365625"/>
</inertial>
</link>
<joint name="elbow_joint" type="revolute">
<parent link="upper_arm_link"/>
<child link="forearm_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 -0.1719 0.612"/>
<axis xyz="0 1 0"/>
<limit effort="150.0" lower="-6.2831853" upper="6.2831853" velocity="3.15"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="forearm_link">
<visual>
<geometry>
<mesh filename="package://ur10_description/meshes/ur10/visual/Forearm.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://ur10_description/meshes/ur10/collision/Forearm.dae"/>
</geometry>
</collision>
<inertial>
<mass value="3.87"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.28615"/>
<inertia ixx="0.111069694097" ixy="0.0" ixz="0.0" iyy="0.111069694097" iyz="0.0" izz="0.010884375"/>
</inertial>
</link>
<joint name="wrist_1_joint" type="revolute">
<parent link="forearm_link"/>
<child link="wrist_1_link"/>
<origin rpy="0.0 1.570796325 0.0" xyz="0.0 0.0 0.5723"/>
<axis xyz="0 1 0"/>
<limit effort="54.0" lower="-6.2831853" upper="6.2831853" velocity="3.2"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="wrist_1_link">
<visual>
<geometry>
<mesh filename="package://ur10_description/meshes/ur10/visual/Wrist1.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://ur10_description/meshes/ur10/collision/Wrist1.dae"/>
</geometry>
</collision>
<inertial>
<mass value="1.96"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<inertia ixx="0.0051082479567" ixy="0.0" ixz="0.0" iyy="0.0051082479567" iyz="0.0" izz="0.0055125"/>
</inertial>
</link>
<joint name="wrist_2_joint" type="revolute">
<parent link="wrist_1_link"/>
<child link="wrist_2_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.1149 0.0"/>
<axis xyz="0 0 1"/>
<limit effort="54.0" lower="-6.2831853" upper="6.2831853" velocity="3.2"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="wrist_2_link">
<visual>
<geometry>
<mesh filename="package://ur10_description/meshes/ur10/visual/Wrist2.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://ur10_description/meshes/ur10/collision/Wrist2.dae"/>
</geometry>
</collision>
<inertial>
<mass value="1.96"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<inertia ixx="0.0051082479567" ixy="0.0" ixz="0.0" iyy="0.0051082479567" iyz="0.0" izz="0.0055125"/>
</inertial>
</link>
<joint name="wrist_3_joint" type="revolute">
<parent link="wrist_2_link"/>
<child link="wrist_3_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.1157"/>
<axis xyz="0 1 0"/>
<limit effort="54.0" lower="-6.2831853" upper="6.2831853" velocity="3.2"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="wrist_3_link">
<visual>
<geometry>
<mesh filename="package://ur10_description/meshes/ur10/visual/Wrist3.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://ur10_description/meshes/ur10/collision/Wrist3.dae"/>
</geometry>
</collision>
<inertial>
<mass value="0.202"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<inertia ixx="0.000526462289415" ixy="0.0" ixz="0.0" iyy="0.000526462289415" iyz="0.0" izz="0.000568125"/>
</inertial>
</link>
<joint name="ee_fixed_joint" type="fixed">
<parent link="wrist_3_link"/>
<child link="ee_link"/>
<origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0922 0.0"/>
</joint>
<link name="ee_link"/>
<transmission name="shoulder_pan_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="shoulder_pan_joint"/>
<actuator name="shoulder_pan_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="shoulder_lift_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="shoulder_lift_joint"/>
<actuator name="shoulder_lift_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="elbow_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="elbow_joint"/>
<actuator name="elbow_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="wrist_1_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="wrist_1_joint"/>
<actuator name="wrist_1_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="wrist_2_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="wrist_2_joint"/>
<actuator name="wrist_2_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="wrist_3_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="wrist_3_joint"/>
<actuator name="wrist_3_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<link name="world"/>
<joint name="world_joint" type="fixed">
<parent link="world"/>
<child link="base_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 1.0"/>
</joint>
</robot>