mirror of
https://github.com/EECS-467-W20-RRRobot-Project/RRRobot.git
synced 2025-08-18 15:22:44 +00:00
Added a basic functional version of a robotic arm that can be used in gazebo.
This commit is contained in:
@@ -3,4 +3,6 @@
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# Use official image for Gazebo 9.x
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FROM gazebo:gzserver9
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COPY $PWD/gazebo_models /root/.gazebo/models
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CMD ["/bin/bash"]
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BIN
src/gazebo/gazebo_models/fanuc_robotic_arm/meshes/arm_link_1.STL
Normal file
BIN
src/gazebo/gazebo_models/fanuc_robotic_arm/meshes/arm_link_1.STL
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src/gazebo/gazebo_models/fanuc_robotic_arm/meshes/arm_link_2.STL
Normal file
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src/gazebo/gazebo_models/fanuc_robotic_arm/meshes/arm_link_2.STL
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src/gazebo/gazebo_models/fanuc_robotic_arm/meshes/arm_link_3.STL
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src/gazebo/gazebo_models/fanuc_robotic_arm/meshes/arm_link_3.STL
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src/gazebo/gazebo_models/fanuc_robotic_arm/meshes/arm_link_4.STL
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src/gazebo/gazebo_models/fanuc_robotic_arm/meshes/arm_link_4.STL
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src/gazebo/gazebo_models/fanuc_robotic_arm/meshes/arm_link_5.STL
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src/gazebo/gazebo_models/fanuc_robotic_arm/meshes/arm_link_5.STL
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src/gazebo/gazebo_models/fanuc_robotic_arm/meshes/arm_link_6.STL
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src/gazebo/gazebo_models/fanuc_robotic_arm/meshes/arm_link_6.STL
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BIN
src/gazebo/gazebo_models/fanuc_robotic_arm/meshes/base_link.STL
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BIN
src/gazebo/gazebo_models/fanuc_robotic_arm/meshes/base_link.STL
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11
src/gazebo/gazebo_models/fanuc_robotic_arm/model.config
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11
src/gazebo/gazebo_models/fanuc_robotic_arm/model.config
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@@ -0,0 +1,11 @@
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<?xml version="1.0" ?>
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<model>
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<name>Fanuc_robot_arm</name>
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<version>1.0</version>
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<sdf version="1.6">model.sdf</sdf>
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<author>
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<name></name>
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<email></email>
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</author>
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<description>This was created using parts from a CAD model on GrabCAD</description>
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</model>
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902
src/gazebo/gazebo_models/fanuc_robotic_arm/model.sdf
Normal file
902
src/gazebo/gazebo_models/fanuc_robotic_arm/model.sdf
Normal file
@@ -0,0 +1,902 @@
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<?xml version='1.0'?>
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<sdf version='1.6'>
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<model name='Fanuc_robotic_arm'>
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<link name='base'>
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<pose frame=''>0 0 0 3.14159 -0 0</pose>
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<inertial>
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<mass>86.082</mass>
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<inertia>
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<ixx>4.3404</ixx>
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<ixy>0</ixy>
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<ixz>0.0020207</ixz>
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<iyy>2.4866</iyy>
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<iyz>0</iyz>
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<izz>6.1574</izz>
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</inertia>
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<pose frame=''>-0.003895 -0.062844 -0.11068 0 -0 0</pose>
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</inertial>
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<self_collide>1</self_collide>
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<kinematic>0</kinematic>
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<gravity>1</gravity>
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<visual name='visual'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<uri>/root/.gazebo/models/fanuc_robotic_arm/meshes/base_link.STL</uri>
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<scale>1 1 1</scale>
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</mesh>
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</geometry>
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<material>
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<lighting>1</lighting>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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<shader type='pixel'>
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<normal_map>__default__</normal_map>
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</shader>
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<ambient>0.3 0.3 0.3 1</ambient>
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<diffuse>0.7 0.7 0.7 1</diffuse>
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<specular>0.01 0.01 0.01 1</specular>
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<emissive>0 0 0 1</emissive>
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</material>
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<transparency>0</transparency>
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<cast_shadows>1</cast_shadows>
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</visual>
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<collision name='collision'>
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<laser_retro>0</laser_retro>
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<max_contacts>10</max_contacts>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<uri>/root/.gazebo/models/fanuc_robotic_arm/meshes/base_link.STL</uri>
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<scale>1 1 1</scale>
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</mesh>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>1</mu>
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<mu2>1</mu2>
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<fdir1>0 0 0</fdir1>
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<slip1>0</slip1>
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<slip2>0</slip2>
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</ode>
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<torsional>
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<coefficient>1</coefficient>
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<patch_radius>0</patch_radius>
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<surface_radius>0</surface_radius>
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<use_patch_radius>1</use_patch_radius>
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<ode>
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<slip>0</slip>
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</ode>
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</torsional>
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</friction>
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<bounce>
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<restitution_coefficient>0</restitution_coefficient>
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<threshold>1e+06</threshold>
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</bounce>
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<contact>
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<collide_without_contact>0</collide_without_contact>
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<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
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<collide_bitmask>1</collide_bitmask>
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<ode>
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<soft_cfm>0</soft_cfm>
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<soft_erp>0.2</soft_erp>
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<kp>1e+13</kp>
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<kd>1</kd>
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<max_vel>0.01</max_vel>
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<min_depth>0</min_depth>
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</ode>
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<bullet>
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<split_impulse>1</split_impulse>
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<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
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<soft_cfm>0</soft_cfm>
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<soft_erp>0.2</soft_erp>
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<kp>1e+13</kp>
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<kd>1</kd>
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</bullet>
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</contact>
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</surface>
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</collision>
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</link>
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<link name='link_1'>
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<pose frame=''>0.001715 0.003779 0.661683 1.5708 -0 0</pose>
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<inertial>
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<mass>266.27</mass>
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<inertia>
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<ixx>279.51</ixx>
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||||
<ixy>0</ixy>
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||||
<ixz>4.6477</ixz>
|
||||
<iyy>43.386</iyy>
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||||
<iyz>34.265</iyz>
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<izz>255.26</izz>
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</inertia>
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<pose frame=''>0.093634 -0.51398 -0.1614 0 -0 0</pose>
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</inertial>
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||||
<self_collide>1</self_collide>
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||||
<kinematic>0</kinematic>
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<gravity>1</gravity>
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<visual name='visual'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<uri>/root/.gazebo/models/fanuc_robotic_arm/meshes/arm_link_1.STL</uri>
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<scale>1 1 1</scale>
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</mesh>
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</geometry>
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<material>
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||||
<lighting>1</lighting>
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||||
<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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||||
<shader type='pixel'>
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<normal_map>__default__</normal_map>
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</shader>
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||||
<ambient>0.3 0.3 0.3 1</ambient>
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||||
<diffuse>0.7 0.7 0.7 1</diffuse>
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||||
<specular>0.01 0.01 0.01 1</specular>
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<emissive>0 0 0 1</emissive>
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</material>
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<transparency>0</transparency>
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||||
<cast_shadows>1</cast_shadows>
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||||
</visual>
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||||
<collision name='collision'>
|
||||
<laser_retro>0</laser_retro>
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||||
<max_contacts>10</max_contacts>
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||||
<pose frame=''>0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<uri>/root/.gazebo/models/fanuc_robotic_arm/meshes/arm_link_1.STL</uri>
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<scale>1 1 1</scale>
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</mesh>
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</geometry>
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<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>1</mu>
|
||||
<mu2>1</mu2>
|
||||
<fdir1>0 0 0</fdir1>
|
||||
<slip1>0</slip1>
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||||
<slip2>0</slip2>
|
||||
</ode>
|
||||
<torsional>
|
||||
<coefficient>1</coefficient>
|
||||
<patch_radius>0</patch_radius>
|
||||
<surface_radius>0</surface_radius>
|
||||
<use_patch_radius>1</use_patch_radius>
|
||||
<ode>
|
||||
<slip>0</slip>
|
||||
</ode>
|
||||
</torsional>
|
||||
</friction>
|
||||
<bounce>
|
||||
<restitution_coefficient>0</restitution_coefficient>
|
||||
<threshold>1e+06</threshold>
|
||||
</bounce>
|
||||
<contact>
|
||||
<collide_without_contact>0</collide_without_contact>
|
||||
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
||||
<collide_bitmask>1</collide_bitmask>
|
||||
<ode>
|
||||
<soft_cfm>0</soft_cfm>
|
||||
<soft_erp>0.2</soft_erp>
|
||||
<kp>1e+13</kp>
|
||||
<kd>1</kd>
|
||||
<max_vel>0.01</max_vel>
|
||||
<min_depth>0</min_depth>
|
||||
</ode>
|
||||
<bullet>
|
||||
<split_impulse>1</split_impulse>
|
||||
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
||||
<soft_cfm>0</soft_cfm>
|
||||
<soft_erp>0.2</soft_erp>
|
||||
<kp>1e+13</kp>
|
||||
<kd>1</kd>
|
||||
</bullet>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
</link>
|
||||
<link name='link_3'>
|
||||
<pose frame=''>-0.00025 -0.94659 5.45119 1.5708 -0 0</pose>
|
||||
<inertial>
|
||||
<mass>63.612</mass>
|
||||
<inertia>
|
||||
<ixx>6.6124</ixx>
|
||||
<ixy>0.099584</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>5.9295</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>1.9517</izz>
|
||||
</inertia>
|
||||
<pose frame=''>0.00756 -3.4862 -0.40714 0 -0 0</pose>
|
||||
</inertial>
|
||||
<self_collide>1</self_collide>
|
||||
<kinematic>0</kinematic>
|
||||
<gravity>1</gravity>
|
||||
<visual name='visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>/root/.gazebo/models/fanuc_robotic_arm/meshes/arm_link_3.STL</uri>
|
||||
<scale>1 1 1</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<lighting>1</lighting>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
<shader type='pixel'>
|
||||
<normal_map>__default__</normal_map>
|
||||
</shader>
|
||||
<ambient>0.3 0.3 0.3 1</ambient>
|
||||
<diffuse>0.7 0.7 0.7 1</diffuse>
|
||||
<specular>0.01 0.01 0.01 1</specular>
|
||||
<emissive>0 0 0 1</emissive>
|
||||
</material>
|
||||
<transparency>0</transparency>
|
||||
<cast_shadows>1</cast_shadows>
|
||||
</visual>
|
||||
<collision name='collision'>
|
||||
<laser_retro>0</laser_retro>
|
||||
<max_contacts>10</max_contacts>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>/root/.gazebo/models/fanuc_robotic_arm/meshes/arm_link_3.STL</uri>
|
||||
<scale>1 1 1</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>1</mu>
|
||||
<mu2>1</mu2>
|
||||
<fdir1>0 0 0</fdir1>
|
||||
<slip1>0</slip1>
|
||||
<slip2>0</slip2>
|
||||
</ode>
|
||||
<torsional>
|
||||
<coefficient>1</coefficient>
|
||||
<patch_radius>0</patch_radius>
|
||||
<surface_radius>0</surface_radius>
|
||||
<use_patch_radius>1</use_patch_radius>
|
||||
<ode>
|
||||
<slip>0</slip>
|
||||
</ode>
|
||||
</torsional>
|
||||
</friction>
|
||||
<bounce>
|
||||
<restitution_coefficient>0</restitution_coefficient>
|
||||
<threshold>1e+06</threshold>
|
||||
</bounce>
|
||||
<contact>
|
||||
<collide_without_contact>0</collide_without_contact>
|
||||
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
||||
<collide_bitmask>1</collide_bitmask>
|
||||
<ode>
|
||||
<soft_cfm>0</soft_cfm>
|
||||
<soft_erp>0.2</soft_erp>
|
||||
<kp>1e+13</kp>
|
||||
<kd>1</kd>
|
||||
<max_vel>0.01</max_vel>
|
||||
<min_depth>0</min_depth>
|
||||
</ode>
|
||||
<bullet>
|
||||
<split_impulse>1</split_impulse>
|
||||
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
||||
<soft_cfm>0</soft_cfm>
|
||||
<soft_erp>0.2</soft_erp>
|
||||
<kp>1e+13</kp>
|
||||
<kd>1</kd>
|
||||
</bullet>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
</link>
|
||||
<link name='link_2'>
|
||||
<pose frame=''>-0.068455 0.275759 0.315754 -1.571 -0 0</pose>
|
||||
<inertial>
|
||||
<mass>60.795</mass>
|
||||
<inertia>
|
||||
<ixx>8.1939</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.76659</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>8.0226</izz>
|
||||
</inertia>
|
||||
<pose frame=''>0.25344 -1.009 -0.57114 0 -0 0</pose>
|
||||
</inertial>
|
||||
<self_collide>1</self_collide>
|
||||
<kinematic>0</kinematic>
|
||||
<gravity>1</gravity>
|
||||
<visual name='visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>/root/.gazebo/models/fanuc_robotic_arm/meshes/arm_link_2.STL</uri>
|
||||
<scale>1 1 1</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<lighting>1</lighting>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
<shader type='pixel'>
|
||||
<normal_map>__default__</normal_map>
|
||||
</shader>
|
||||
<ambient>0.3 0.3 0.3 1</ambient>
|
||||
<diffuse>0.7 0.7 0.7 1</diffuse>
|
||||
<specular>0.01 0.01 0.01 1</specular>
|
||||
<emissive>0 0 0 1</emissive>
|
||||
</material>
|
||||
<transparency>0</transparency>
|
||||
<cast_shadows>1</cast_shadows>
|
||||
</visual>
|
||||
<collision name='collision'>
|
||||
<laser_retro>0</laser_retro>
|
||||
<max_contacts>10</max_contacts>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>/root/.gazebo/models/fanuc_robotic_arm/meshes/arm_link_2.STL</uri>
|
||||
<scale>1 1 1</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>1</mu>
|
||||
<mu2>1</mu2>
|
||||
<fdir1>0 0 0</fdir1>
|
||||
<slip1>0</slip1>
|
||||
<slip2>0</slip2>
|
||||
</ode>
|
||||
<torsional>
|
||||
<coefficient>1</coefficient>
|
||||
<patch_radius>0</patch_radius>
|
||||
<surface_radius>0</surface_radius>
|
||||
<use_patch_radius>1</use_patch_radius>
|
||||
<ode>
|
||||
<slip>0</slip>
|
||||
</ode>
|
||||
</torsional>
|
||||
</friction>
|
||||
<bounce>
|
||||
<restitution_coefficient>0</restitution_coefficient>
|
||||
<threshold>1e+06</threshold>
|
||||
</bounce>
|
||||
<contact>
|
||||
<collide_without_contact>0</collide_without_contact>
|
||||
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<kp>1e+13</kp>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<link name='link_4'>
|
||||
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|
||||
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|
||||
<mass>6.6264</mass>
|
||||
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|
||||
<ixx>0.089718</ixx>
|
||||
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|
||||
<ixz>0.017666</ixz>
|
||||
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|
||||
<iyz>3e-08</iyz>
|
||||
<izz>0.028564</izz>
|
||||
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|
||||
<pose frame=''>-0.028814 0 -2.454 0 -0 0</pose>
|
||||
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|
||||
<self_collide>1</self_collide>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<uri>/root/.gazebo/models/fanuc_robotic_arm/meshes/arm_link_4.STL</uri>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<lighting>1</lighting>
|
||||
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|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<mesh>
|
||||
<uri>/root/.gazebo/models/fanuc_robotic_arm/meshes/arm_link_4.STL</uri>
|
||||
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|
||||
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|
||||
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|
||||
<surface>
|
||||
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|
||||
<ode>
|
||||
<mu>1</mu>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<coefficient>1</coefficient>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<kp>1e+13</kp>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<bullet>
|
||||
<split_impulse>1</split_impulse>
|
||||
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|
||||
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|
||||
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|
||||
<kp>1e+13</kp>
|
||||
<kd>1</kd>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<link name='link_5'>
|
||||
<pose frame=''>0.000743 -4.767 2.06498 -1.5708 7e-06 3.14159</pose>
|
||||
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|
||||
<mass>5.1229</mass>
|
||||
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|
||||
<ixx>0.038195</ixx>
|
||||
<ixy>4e-07</ixy>
|
||||
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|
||||
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|
||||
<iyz>6e-07</iyz>
|
||||
<izz>0.04821</izz>
|
||||
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|
||||
<pose frame=''>-0.010371 1e-06 -3.0669 0 -0 0</pose>
|
||||
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|
||||
<self_collide>1</self_collide>
|
||||
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|
||||
<gravity>1</gravity>
|
||||
<visual name='visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
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|
||||
<mesh>
|
||||
<uri>/root/.gazebo/models/fanuc_robotic_arm/meshes/arm_link_5.STL</uri>
|
||||
<scale>1 1 1</scale>
|
||||
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|
||||
</geometry>
|
||||
<material>
|
||||
<lighting>1</lighting>
|
||||
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|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
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|
||||
<shader type='pixel'>
|
||||
<normal_map>__default__</normal_map>
|
||||
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|
||||
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|
||||
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|
||||
<specular>0.01 0.01 0.01 1</specular>
|
||||
<emissive>0 0 0 1</emissive>
|
||||
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|
||||
<transparency>0</transparency>
|
||||
<cast_shadows>1</cast_shadows>
|
||||
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|
||||
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|
||||
<laser_retro>0</laser_retro>
|
||||
<max_contacts>10</max_contacts>
|
||||
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|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>/root/.gazebo/models/fanuc_robotic_arm/meshes/arm_link_5.STL</uri>
|
||||
<scale>1 1 1</scale>
|
||||
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|
||||
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|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>1</mu>
|
||||
<mu2>1</mu2>
|
||||
<fdir1>0 0 0</fdir1>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<coefficient>1</coefficient>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<bounce>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<kp>1e+13</kp>
|
||||
<kd>1</kd>
|
||||
<max_vel>0.01</max_vel>
|
||||
<min_depth>0</min_depth>
|
||||
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|
||||
<bullet>
|
||||
<split_impulse>1</split_impulse>
|
||||
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
||||
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|
||||
<soft_erp>0.2</soft_erp>
|
||||
<kp>1e+13</kp>
|
||||
<kd>1</kd>
|
||||
</bullet>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<link name='link_6'>
|
||||
<pose frame=''>-2.06426 -5.37015 4.13075 1.88426 1.57078 0.313465</pose>
|
||||
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|
||||
<mass>0.72893</mass>
|
||||
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|
||||
<ixx>0.00131</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.0012978</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.0024341</izz>
|
||||
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|
||||
<pose frame=''>2.0657 2.0642 -3.5441 0 -0 0</pose>
|
||||
</inertial>
|
||||
<self_collide>1</self_collide>
|
||||
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|
||||
<gravity>1</gravity>
|
||||
<visual name='visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>/root/.gazebo/models/fanuc_robotic_arm/meshes/arm_link_6.STL</uri>
|
||||
<scale>1 1 1</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<lighting>1</lighting>
|
||||
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|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
<shader type='pixel'>
|
||||
<normal_map>__default__</normal_map>
|
||||
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|
||||
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|
||||
<diffuse>0.7 0.7 0.7 1</diffuse>
|
||||
<specular>0.01 0.01 0.01 1</specular>
|
||||
<emissive>0 0 0 1</emissive>
|
||||
</material>
|
||||
<transparency>0</transparency>
|
||||
<cast_shadows>1</cast_shadows>
|
||||
</visual>
|
||||
<collision name='collision'>
|
||||
<laser_retro>0</laser_retro>
|
||||
<max_contacts>10</max_contacts>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>/root/.gazebo/models/fanuc_robotic_arm/meshes/arm_link_6.STL</uri>
|
||||
<scale>1 1 1</scale>
|
||||
</mesh>
|
||||
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|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>1</mu>
|
||||
<mu2>1</mu2>
|
||||
<fdir1>0 0 0</fdir1>
|
||||
<slip1>0</slip1>
|
||||
<slip2>0</slip2>
|
||||
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|
||||
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|
||||
<coefficient>1</coefficient>
|
||||
<patch_radius>0</patch_radius>
|
||||
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|
||||
<use_patch_radius>1</use_patch_radius>
|
||||
<ode>
|
||||
<slip>0</slip>
|
||||
</ode>
|
||||
</torsional>
|
||||
</friction>
|
||||
<bounce>
|
||||
<restitution_coefficient>0</restitution_coefficient>
|
||||
<threshold>1e+06</threshold>
|
||||
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|
||||
<contact>
|
||||
<collide_without_contact>0</collide_without_contact>
|
||||
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
||||
<collide_bitmask>1</collide_bitmask>
|
||||
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|
||||
<soft_cfm>0</soft_cfm>
|
||||
<soft_erp>0.2</soft_erp>
|
||||
<kp>1e+13</kp>
|
||||
<kd>1</kd>
|
||||
<max_vel>0.01</max_vel>
|
||||
<min_depth>0</min_depth>
|
||||
</ode>
|
||||
<bullet>
|
||||
<split_impulse>1</split_impulse>
|
||||
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
||||
<soft_cfm>0</soft_cfm>
|
||||
<soft_erp>0.2</soft_erp>
|
||||
<kp>1e+13</kp>
|
||||
<kd>1</kd>
|
||||
</bullet>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name='wrist_pivot' type='revolute'>
|
||||
<parent>link_3</parent>
|
||||
<child>link_4</child>
|
||||
<pose frame=''>0 0 -2.7 0 -0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
<limit>
|
||||
<lower>-1.79769e+308</lower>
|
||||
<upper>1.79769e+308</upper>
|
||||
<effort>-2000</effort>
|
||||
<velocity>-1</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
</dynamics>
|
||||
</axis>
|
||||
<physics>
|
||||
<ode>
|
||||
<limit>
|
||||
<cfm>0</cfm>
|
||||
<erp>0.2</erp>
|
||||
</limit>
|
||||
<suspension>
|
||||
<cfm>0</cfm>
|
||||
<erp>0.2</erp>
|
||||
</suspension>
|
||||
</ode>
|
||||
</physics>
|
||||
</joint>
|
||||
<joint name='shoulder_joint' type='revolute'>
|
||||
<parent>link_1</parent>
|
||||
<child>link_2</child>
|
||||
<pose frame=''>0 -0.41 -0.61 0 -0 0</pose>
|
||||
<axis>
|
||||
<xyz>1 0 0</xyz>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
<limit>
|
||||
<lower>-1.79769e+308</lower>
|
||||
<upper>1.79769e+308</upper>
|
||||
<effort>-2000</effort>
|
||||
<velocity>-1</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
</dynamics>
|
||||
</axis>
|
||||
<physics>
|
||||
<ode>
|
||||
<limit>
|
||||
<cfm>0</cfm>
|
||||
<erp>0.2</erp>
|
||||
</limit>
|
||||
<suspension>
|
||||
<cfm>0</cfm>
|
||||
<erp>0.2</erp>
|
||||
</suspension>
|
||||
</ode>
|
||||
</physics>
|
||||
</joint>
|
||||
<joint name='elbow_joint' type='revolute'>
|
||||
<parent>link_2</parent>
|
||||
<child>link_3</child>
|
||||
<pose frame=''>0 -3.65 -0.6 0 -0 0</pose>
|
||||
<axis>
|
||||
<xyz>1 0 0</xyz>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
<limit>
|
||||
<lower>-1.79769e+308</lower>
|
||||
<upper>1.79769e+308</upper>
|
||||
<effort>-2000</effort>
|
||||
<velocity>-1</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
</dynamics>
|
||||
</axis>
|
||||
<physics>
|
||||
<ode>
|
||||
<limit>
|
||||
<cfm>0</cfm>
|
||||
<erp>0.2</erp>
|
||||
</limit>
|
||||
<suspension>
|
||||
<cfm>0</cfm>
|
||||
<erp>0.2</erp>
|
||||
</suspension>
|
||||
</ode>
|
||||
</physics>
|
||||
</joint>
|
||||
<joint name='wrist_joint' type='revolute'>
|
||||
<parent>link_4</parent>
|
||||
<child>link_5</child>
|
||||
<pose frame=''>0 0 -3.15 0 -0 0</pose>
|
||||
<axis>
|
||||
<xyz>1 0 0</xyz>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
<limit>
|
||||
<lower>-1.79769e+308</lower>
|
||||
<upper>1.79769e+308</upper>
|
||||
<effort>-2000</effort>
|
||||
<velocity>-1</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
</dynamics>
|
||||
</axis>
|
||||
<physics>
|
||||
<ode>
|
||||
<limit>
|
||||
<cfm>0</cfm>
|
||||
<erp>0.2</erp>
|
||||
</limit>
|
||||
<suspension>
|
||||
<cfm>0</cfm>
|
||||
<erp>0.2</erp>
|
||||
</suspension>
|
||||
</ode>
|
||||
</physics>
|
||||
</joint>
|
||||
<joint name='shoulder_pivot' type='revolute'>
|
||||
<parent>base</parent>
|
||||
<child>link_1</child>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
<limit>
|
||||
<lower>-1.79769e+308</lower>
|
||||
<upper>1.79769e+308</upper>
|
||||
<effort>-2000</effort>
|
||||
<velocity>-1</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
</dynamics>
|
||||
</axis>
|
||||
<physics>
|
||||
<ode>
|
||||
<limit>
|
||||
<cfm>0</cfm>
|
||||
<erp>0.2</erp>
|
||||
</limit>
|
||||
<suspension>
|
||||
<cfm>0</cfm>
|
||||
<erp>0.2</erp>
|
||||
</suspension>
|
||||
</ode>
|
||||
</physics>
|
||||
</joint>
|
||||
<joint name='end_effector_pivot' type='revolute'>
|
||||
<parent>link_5</parent>
|
||||
<child>link_6</child>
|
||||
<pose frame=''>2.065 2.065 -3.5 0 -0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
<limit>
|
||||
<lower>-1.79769e+308</lower>
|
||||
<upper>1.79769e+308</upper>
|
||||
<effort>-2000</effort>
|
||||
<velocity>-1</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
</dynamics>
|
||||
</axis>
|
||||
<physics>
|
||||
<ode>
|
||||
<limit>
|
||||
<cfm>0</cfm>
|
||||
<erp>0.2</erp>
|
||||
</limit>
|
||||
<suspension>
|
||||
<cfm>0</cfm>
|
||||
<erp>0.2</erp>
|
||||
</suspension>
|
||||
</ode>
|
||||
</physics>
|
||||
</joint>
|
||||
<joint name='world_fix' type='fixed'>
|
||||
<parent>world</parent>
|
||||
<child>base</child>
|
||||
</joint>
|
||||
<static>0</static>
|
||||
<allow_auto_disable>0</allow_auto_disable>
|
||||
</model>
|
||||
</sdf>
|
@@ -1,5 +1,5 @@
|
||||
#docker run -i -h rrrobot-env -t eecs467:rrrobot bash
|
||||
|
||||
xhost +local:docker #rrrobot-env
|
||||
docker run -it --rm --device=/dev/input/event4 --device=/dev/dri:/dev/dri -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix -h rrrobot-env eecs467:rrrobot
|
||||
docker run -it --rm --device=/dev/input/event4 --device=/dev/dri:/dev/dri -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix -v$PWD/gazebo_models:/root/.gazebo/models -h rrrobot-env eecs467:rrrobot
|
||||
xhost -local:docker #rrrobot-env
|
||||
|
Reference in New Issue
Block a user