sravan/RRRobot
1
0
Fork 0
mirror of https://github.com/EECS-467-W20-RRRobot-Project/RRRobot.git synced 2025-08-24 08:42:45 +00:00
Code Issues Packages Projects Releases Wiki Activity
Files
ef26d8ffef0089b12a6a23663b2606a80faffc3f
RRRobot/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/model.sdf
Derek Witcpalek ef26d8ffef Working arm movement to specific pose (x,y,z,roll,pitch,yaw). There are a lot of other changes too. 
-Removed gravity (temporary, I hope). I was struggling to get inverse dynamics working correctly to provide a torque to compensate for gravity. Eventually, I think we want to have a PID, plus gravity compensation.
  -Created a demo world with setpoints that the robot heads to.
  -Arm kinematic representation is working.
  -PID control of each joint is working to a basic extent. Some segments are more responsive than others.

Still to do:
  -reading in SDF should be more robust, and should support all joint types
  -better control
  -obstacle avoidance in arm movement path
  -control with gravity
  -arm joint limits, and shortest path to angle (ie considers that theta wraps at 2 pi
2020-04-12 14:18:01 -04:00

906 lines
28 KiB
XML
Raw Blame History

<?xml version='1.0'?>
<sdf version='1.6'>
<model name='Fanuc_robotic_arm'>
<link name='base'>
<pose frame=''>0 0 0 3.14159 -0 0</pose>
<inertial>
<mass>86.082</mass>
<inertia>
<ixx>4.3404</ixx>
<ixy>0</ixy>
<ixz>0.0020207</ixz>
<iyy>2.4866</iyy>
<iyz>0</iyz>
<izz>6.1574</izz>
</inertia>
<pose frame=''>-0.003895 -0.062844 -0.11068 0 -0 0</pose>
</inertial>
<self_collide>1</self_collide>
<kinematic>0</kinematic>
<gravity>0</gravity>
<visual name='visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>/home/rrrobot/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/base_link.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>/home/rrrobot/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/base_link.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_1'>
<pose frame=''>0.001715 0.003779 0.661683 1.5708 -0 0</pose>
<inertial>
<mass>266.27</mass>
<inertia>
<ixx>279.51</ixx>
<ixy>0</ixy>
<ixz>4.6477</ixz>
<iyy>43.386</iyy>
<iyz>34.265</iyz>
<izz>255.26</izz>
</inertia>
<pose frame=''>0.093634 -0.51398 -0.1614 0 -0 0</pose>
</inertial>
<self_collide>1</self_collide>
<kinematic>0</kinematic>
<gravity>0</gravity>
<visual name='visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>/home/rrrobot/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_1.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>/home/rrrobot/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_1.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_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>0</gravity>
<visual name='visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>/home/rrrobot/rrrobot_src/src/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>/home/rrrobot/rrrobot_src/src/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>0</gravity>
<visual name='visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>/home/rrrobot/rrrobot_src/src/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>/home/rrrobot/rrrobot_src/src/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>
<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_4'>
<pose frame=''>-0.000257 -3.97477 2.07064 -1.5708 7e-06 3.14159</pose>
<inertial>
<mass>6.6264</mass>
<inertia>
<ixx>0.089718</ixx>
<ixy>0</ixy>
<ixz>0.017666</ixz>
<iyy>0.092881</iyy>
<iyz>3e-08</iyz>
<izz>0.028564</izz>
</inertia>
<pose frame=''>-0.028814 0 -2.454 0 -0 0</pose>
</inertial>
<self_collide>1</self_collide>
<kinematic>0</kinematic>
<gravity>0</gravity>
<visual name='visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>/home/rrrobot/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_4.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>/home/rrrobot/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_4.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_5'>
<pose frame=''>0.000743 -4.767 2.06498 -1.5708 7e-06 3.14159</pose>
<inertial>
<mass>5.1229</mass>
<inertia>
<ixx>0.038195</ixx>
<ixy>4e-07</ixy>
<ixz>0</ixz>
<iyy>0.066675</iyy>
<iyz>6e-07</iyz>
<izz>0.04821</izz>
</inertia>
<pose frame=''>-0.010371 1e-06 -3.0669 0 -0 0</pose>
</inertial>
<self_collide>1</self_collide>
<kinematic>0</kinematic>
<gravity>0</gravity>
<visual name='visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>/home/rrrobot/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_5.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>/home/rrrobot/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_5.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_6'>
<pose frame=''>-2.06426 -5.37015 4.13075 1.88426 1.57078 0.313465</pose>
<inertial>
<mass>0.72893</mass>
<inertia>
<ixx>0.00131</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0012978</iyy>
<iyz>0</iyz>
<izz>0.0024341</izz>
</inertia>
<pose frame=''>2.0657 2.0642 -3.5441 0 -0 0</pose>
</inertial>
<self_collide>1</self_collide>
<kinematic>0</kinematic>
<gravity>0</gravity>
<visual name='visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>/home/rrrobot/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_6.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>/home/rrrobot/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_6.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>
<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>-20000000</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>-20000000</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>-20000000</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>-20000000</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>-20000000</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>-20000000</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>
<plugin name="joint_angles" filename="libarm_angles.so"/>
<plugin name="arm_control" filename="libarm_motors.so"/>
</model>
</sdf>
Reference in New Issue View Git Blame Copy Permalink