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panda.urdf
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panda.urdf
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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from /home/ekin/catkin_ws/src/franka_ros/franka_description/robots/panda/panda.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="panda">
<!-- Should a franka_gripper be mounted at the flange?" -->
<!-- sub-link defining detailed meshes for collision with environment -->
<link name="panda_link0">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/link0.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://franka_description/meshes/collision/link0.stl"/>
</geometry>
</collision>
</link>
<!-- sub-link defining coarse geometries of real robot's internal self-collision -->
<link name="panda_link0_sc">
<collision>
<origin rpy="0 1.5707963267948966 0" xyz="-0.075 0 0.06"/>
<geometry>
<cylinder length="0.03" radius="0.09"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.06 0 0.06"/>
<geometry>
<sphere radius="0.09"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.09 0 0.06"/>
<geometry>
<sphere radius="0.09"/>
</geometry>
</collision>
</link>
<!-- fixed joint between both sub-links -->
<joint name="panda_link0_sc_joint" type="fixed">
<origin rpy="0 0 0"/>
<parent link="panda_link0"/>
<child link="panda_link0_sc"/>
</joint>
<!-- sub-link defining detailed meshes for collision with environment -->
<link name="panda_link1">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/link1.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://franka_description/meshes/collision/link1.stl"/>
</geometry>
</collision>
</link>
<!-- sub-link defining coarse geometries of real robot's internal self-collision -->
<link name="panda_link1_sc">
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.1915"/>
<geometry>
<cylinder length="0.283" radius="0.09"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 -0.05000000000000002"/>
<geometry>
<sphere radius="0.09"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 -0.33299999999999996"/>
<geometry>
<sphere radius="0.09"/>
</geometry>
</collision>
</link>
<!-- fixed joint between both sub-links -->
<joint name="panda_link1_sc_joint" type="fixed">
<origin rpy="0 0 0"/>
<parent link="panda_link1"/>
<child link="panda_link1_sc"/>
</joint>
<joint name="panda_joint1" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0.333"/>
<parent link="panda_link0"/>
<child link="panda_link1"/>
<axis xyz="0 0 1"/>
<limit effort="87.0" lower="-2.8973" upper="2.8973" velocity="2.175"/>
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
<dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
</joint>
<!-- sub-link defining detailed meshes for collision with environment -->
<link name="panda_link2">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/link2.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://franka_description/meshes/collision/link2.stl"/>
</geometry>
</collision>
</link>
<!-- sub-link defining coarse geometries of real robot's internal self-collision -->
<link name="panda_link2_sc">
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.12" radius="0.09"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0.06"/>
<geometry>
<sphere radius="0.09"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 -0.06"/>
<geometry>
<sphere radius="0.09"/>
</geometry>
</collision>
</link>
<!-- fixed joint between both sub-links -->
<joint name="panda_link2_sc_joint" type="fixed">
<origin rpy="0 0 0"/>
<parent link="panda_link2"/>
<child link="panda_link2_sc"/>
</joint>
<joint name="panda_joint2" type="revolute">
<origin rpy="-1.5707963267948966 0 0" xyz="0 0 0"/>
<parent link="panda_link1"/>
<child link="panda_link2"/>
<axis xyz="0 0 1"/>
<limit effort="87.0" lower="-1.7628" upper="1.7628" velocity="2.175"/>
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"/>
<dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
</joint>
<!-- sub-link defining detailed meshes for collision with environment -->
<link name="panda_link3">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/link3.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://franka_description/meshes/collision/link3.stl"/>
</geometry>
</collision>
</link>
<!-- sub-link defining coarse geometries of real robot's internal self-collision -->
<link name="panda_link3_sc">
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.145"/>
<geometry>
<cylinder length="0.15" radius="0.09"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 -0.06999999999999999"/>
<geometry>
<sphere radius="0.09"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 -0.21999999999999997"/>
<geometry>
<sphere radius="0.09"/>
</geometry>
</collision>
</link>
<!-- fixed joint between both sub-links -->
<joint name="panda_link3_sc_joint" type="fixed">
<origin rpy="0 0 0"/>
<parent link="panda_link3"/>
<child link="panda_link3_sc"/>
</joint>
<joint name="panda_joint3" type="revolute">
<origin rpy="1.5707963267948966 0 0" xyz="0 -0.316 0"/>
<parent link="panda_link2"/>
<child link="panda_link3"/>
<axis xyz="0 0 1"/>
<limit effort="87.0" lower="-2.8973" upper="2.8973" velocity="2.175"/>
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
<dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
</joint>
<!-- sub-link defining detailed meshes for collision with environment -->
<link name="panda_link4">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/link4.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://franka_description/meshes/collision/link4.stl"/>
</geometry>
</collision>
</link>
<!-- sub-link defining coarse geometries of real robot's internal self-collision -->
<link name="panda_link4_sc">
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.12" radius="0.09"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0.06"/>
<geometry>
<sphere radius="0.09"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 -0.06"/>
<geometry>
<sphere radius="0.09"/>
</geometry>
</collision>
</link>
<!-- fixed joint between both sub-links -->
<joint name="panda_link4_sc_joint" type="fixed">
<origin rpy="0 0 0"/>
<parent link="panda_link4"/>
<child link="panda_link4_sc"/>
</joint>
<joint name="panda_joint4" type="revolute">
<origin rpy="1.5707963267948966 0 0" xyz="0.0825 0 0"/>
<parent link="panda_link3"/>
<child link="panda_link4"/>
<axis xyz="0 0 1"/>
<limit effort="87.0" lower="-3.0718" upper="-0.0698" velocity="2.175"/>
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698"/>
<dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
</joint>
<!-- sub-link defining detailed meshes for collision with environment -->
<link name="panda_link5">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/link5.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://franka_description/meshes/collision/link5.stl"/>
</geometry>
</collision>
</link>
<!-- sub-link defining coarse geometries of real robot's internal self-collision -->
<link name="panda_link5_sc">
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.26"/>
<geometry>
<cylinder length="0.1" radius="0.09"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 -0.21000000000000002"/>
<geometry>
<sphere radius="0.09"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 -0.31"/>
<geometry>
<sphere radius="0.09"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0.08" xyz="0 0.08 -0.13"/>
<geometry>
<cylinder length="0.14" radius="0.055"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0.08 -0.06"/>
<geometry>
<sphere radius="0.055"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0.08 -0.2"/>
<geometry>
<sphere radius="0.055"/>
</geometry>
</collision>
</link>
<!-- fixed joint between both sub-links -->
<joint name="panda_link5_sc_joint" type="fixed">
<origin rpy="0 0 0"/>
<parent link="panda_link5"/>
<child link="panda_link5_sc"/>
</joint>
<joint name="panda_joint5" type="revolute">
<origin rpy="-1.5707963267948966 0 0" xyz="-0.0825 0.384 0"/>
<parent link="panda_link4"/>
<child link="panda_link5"/>
<axis xyz="0 0 1"/>
<limit effort="12.0" lower="-2.8973" upper="2.8973" velocity="2.61"/>
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
<dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
</joint>
<!-- sub-link defining detailed meshes for collision with environment -->
<link name="panda_link6">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/link6.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://franka_description/meshes/collision/link6.stl"/>
</geometry>
</collision>
</link>
<!-- sub-link defining coarse geometries of real robot's internal self-collision -->
<link name="panda_link6_sc">
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.03"/>
<geometry>
<cylinder length="0.08" radius="0.08"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0.010000000000000002"/>
<geometry>
<sphere radius="0.08"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 -0.07"/>
<geometry>
<sphere radius="0.08"/>
</geometry>
</collision>
</link>
<!-- fixed joint between both sub-links -->
<joint name="panda_link6_sc_joint" type="fixed">
<origin rpy="0 0 0"/>
<parent link="panda_link6"/>
<child link="panda_link6_sc"/>
</joint>
<joint name="panda_joint6" type="revolute">
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<parent link="panda_link5"/>
<child link="panda_link6"/>
<axis xyz="0 0 1"/>
<limit effort="12.0" lower="-0.0175" upper="3.7525" velocity="2.61"/>
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"/>
<dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
</joint>
<!-- sub-link defining detailed meshes for collision with environment -->
<link name="panda_link7">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/link7.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://franka_description/meshes/collision/link7.stl"/>
</geometry>
</collision>
</link>
<!-- sub-link defining coarse geometries of real robot's internal self-collision -->
<link name="panda_link7_sc">
<collision>
<origin rpy="0 0 0" xyz="0 0 0.01"/>
<geometry>
<cylinder length="0.14" radius="0.07"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0.08"/>
<geometry>
<sphere radius="0.07"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 -0.060000000000000005"/>
<geometry>
<sphere radius="0.07"/>
</geometry>
</collision>
<collision>
<origin rpy="0 1.5707963267948966 0" xyz="0.06 0 0.082"/>
<geometry>
<cylinder length="0.01" radius="0.06"/>
</geometry>
</collision>
<collision>
<origin xyz="0.065 0 0.082"/>
<geometry>
<sphere radius="0.06"/>
</geometry>
</collision>
<collision>
<origin xyz="0.055 0 0.082"/>
<geometry>
<sphere radius="0.06"/>
</geometry>
</collision>
</link>
<!-- fixed joint between both sub-links -->
<joint name="panda_link7_sc_joint" type="fixed">
<origin rpy="0 0 0.7853981633974483"/>
<parent link="panda_link7"/>
<child link="panda_link7_sc"/>
</joint>
<joint name="panda_joint7" type="revolute">
<origin rpy="1.5707963267948966 0 0" xyz="0.088 0 0"/>
<parent link="panda_link6"/>
<child link="panda_link7"/>
<axis xyz="0 0 1"/>
<limit effort="12.0" lower="-2.8973" upper="2.8973" velocity="2.61"/>
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
<dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
</joint>
<link name="panda_link8"/>
<joint name="panda_joint8" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.107"/>
<parent link="panda_link7"/>
<child link="panda_link8"/>
</joint>
<joint name="panda_hand_joint" type="fixed">
<parent link="panda_link8"/>
<child link="panda_hand"/>
<origin rpy="0 0 -0.7853981633974483" xyz="0 0 0"/>
</joint>
<!-- sub-link defining detailed meshes for collision with environment -->
<link name="panda_hand">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/hand.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://franka_description/meshes/collision/hand.stl"/>
</geometry>
</collision>
</link>
<!-- sub-link defining coarse geometries of real robot's internal self-collision -->
<link name="panda_hand_sc">
<collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0.04"/>
<geometry>
<cylinder length="0.1" radius="0.07"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0.05 0.04"/>
<geometry>
<sphere radius="0.07"/>
</geometry>
</collision>
<collision>
<origin xyz="0 -0.05 0.04"/>
<geometry>
<sphere radius="0.07"/>
</geometry>
</collision>
<collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0.1"/>
<geometry>
<cylinder length="0.1" radius="0.05"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0.05 0.1"/>
<geometry>
<sphere radius="0.05"/>
</geometry>
</collision>
<collision>
<origin xyz="0 -0.05 0.1"/>
<geometry>
<sphere radius="0.05"/>
</geometry>
</collision>
</link>
<!-- fixed joint between both sub-links -->
<joint name="panda_hand_sc_joint" type="fixed">
<origin rpy="0 0 0"/>
<parent link="panda_hand"/>
<child link="panda_hand_sc"/>
</joint>
<!-- Define the hand_tcp frame -->
<link name="panda_hand_tcp"/>
<joint name="panda_hand_tcp_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.1034"/>
<parent link="panda_hand"/>
<child link="panda_hand_tcp"/>
</joint>
<link name="panda_leftfinger">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/finger.dae"/>
</geometry>
</visual>
<!-- screw mount -->
<collision>
<origin rpy="0 0 0" xyz="0 18.5e-3 11e-3"/>
<geometry>
<box size="22e-3 15e-3 20e-3"/>
</geometry>
</collision>
<!-- cartriage sledge -->
<collision>
<origin rpy="0 0 0" xyz="0 6.8e-3 2.2e-3"/>
<geometry>
<box size="22e-3 8.8e-3 3.8e-3"/>
</geometry>
</collision>
<!-- diagonal finger -->
<collision>
<origin rpy="0.5235987755982988 0 0" xyz="0 15.9e-3 28.35e-3"/>
<geometry>
<box size="17.5e-3 7e-3 23.5e-3"/>
</geometry>
</collision>
<!-- rubber tip with which to grasp -->
<collision>
<origin rpy="0 0 0" xyz="0 7.58e-3 45.25e-3"/>
<geometry>
<box size="17.5e-3 15.2e-3 18.5e-3"/>
</geometry>
</collision>
</link>
<link name="panda_rightfinger">
<visual>
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
<geometry>
<mesh filename="package://franka_description/meshes/visual/finger.dae"/>
</geometry>
</visual>
<!-- screw mount -->
<collision>
<origin rpy="0 0 0" xyz="0 -18.5e-3 11e-3"/>
<geometry>
<box size="22e-3 15e-3 20e-3"/>
</geometry>
</collision>
<!-- cartriage sledge -->
<collision>
<origin rpy="0 0 0" xyz="0 -6.8e-3 2.2e-3"/>
<geometry>
<box size="22e-3 8.8e-3 3.8e-3"/>
</geometry>
</collision>
<!-- diagonal finger -->
<collision>
<origin rpy="-0.5235987755982988 0 0" xyz="0 -15.9e-3 28.35e-3"/>
<geometry>
<box size="17.5e-3 7e-3 23.5e-3"/>
</geometry>
</collision>
<!-- rubber tip with which to grasp -->
<collision>
<origin rpy="0 0 0" xyz="0 -7.58e-3 45.25e-3"/>
<geometry>
<box size="17.5e-3 15.2e-3 18.5e-3"/>
</geometry>
</collision>
</link>
<joint name="panda_finger_joint1" type="prismatic">
<parent link="panda_hand"/>
<child link="panda_leftfinger"/>
<origin rpy="0 0 0" xyz="0 0 0.0584"/>
<axis xyz="0 1 0"/>
<limit effort="100" lower="0.0" upper="0.04" velocity="0.2"/>
<dynamics damping="0.3"/>
</joint>
<joint name="panda_finger_joint2" type="prismatic">
<parent link="panda_hand"/>
<child link="panda_rightfinger"/>
<origin rpy="0 0 0" xyz="0 0 0.0584"/>
<axis xyz="0 -1 0"/>
<limit effort="100" lower="0.0" upper="0.04" velocity="0.2"/>
<mimic joint="panda_finger_joint1"/>
<dynamics damping="0.3"/>
</joint>
</robot>