Create piper/piper.urdf
Browse files- piper/piper.urdf +568 -0
piper/piper.urdf
ADDED
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@@ -0,0 +1,568 @@
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| 1 |
+
<?xml version="1.0" encoding="utf-8"?>
|
| 2 |
+
<robot
|
| 3 |
+
name="piper_description">
|
| 4 |
+
<link
|
| 5 |
+
name="base_link">
|
| 6 |
+
<!-- <inertial>
|
| 7 |
+
<origin
|
| 8 |
+
xyz="-0.00973928490005031 1.8312708928633E-06 0.0410140167677137"
|
| 9 |
+
rpy="0 0 0" />
|
| 10 |
+
<mass
|
| 11 |
+
value="0.162352169522719" />
|
| 12 |
+
<inertia
|
| 13 |
+
ixx="0.000226592553127906"
|
| 14 |
+
ixy="-7.33974356968813E-08"
|
| 15 |
+
ixz="2.13221970218123E-06"
|
| 16 |
+
iyy="0.000269447877479622"
|
| 17 |
+
iyz="8.15167478685076E-09"
|
| 18 |
+
izz="0.000222318286704" />
|
| 19 |
+
</inertial> -->
|
| 20 |
+
<visual>
|
| 21 |
+
<origin
|
| 22 |
+
xyz="0 0 0"
|
| 23 |
+
rpy="0 0 0" />
|
| 24 |
+
<geometry>
|
| 25 |
+
<mesh
|
| 26 |
+
filename="base_link.STL" />
|
| 27 |
+
</geometry>
|
| 28 |
+
<material
|
| 29 |
+
name="">
|
| 30 |
+
<color
|
| 31 |
+
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
|
| 32 |
+
</material>
|
| 33 |
+
</visual>
|
| 34 |
+
<collision>
|
| 35 |
+
<origin
|
| 36 |
+
xyz="0 0 0"
|
| 37 |
+
rpy="0 0 0" />
|
| 38 |
+
<geometry>
|
| 39 |
+
<mesh
|
| 40 |
+
filename="base_link.STL" />
|
| 41 |
+
</geometry>
|
| 42 |
+
</collision>
|
| 43 |
+
</link>
|
| 44 |
+
<link
|
| 45 |
+
name="link1">
|
| 46 |
+
<inertial>
|
| 47 |
+
<origin
|
| 48 |
+
xyz="0.00131676031927021 0.000310288842008364 -0.00922874512303438"
|
| 49 |
+
rpy="0 0 0" />
|
| 50 |
+
<mass
|
| 51 |
+
value="0.0978679932242825" />
|
| 52 |
+
<inertia
|
| 53 |
+
ixx="7.76684558296781E-05"
|
| 54 |
+
ixy="1.09084650459916E-07"
|
| 55 |
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ixz="-1.97480532432411E-06"
|
| 56 |
+
iyy="9.24967780161546E-05"
|
| 57 |
+
iyz="9.91284646834672E-07"
|
| 58 |
+
izz="8.24589062407806E-05" />
|
| 59 |
+
</inertial>
|
| 60 |
+
<visual>
|
| 61 |
+
<origin
|
| 62 |
+
xyz="0 0 0"
|
| 63 |
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rpy="0 0 0" />
|
| 64 |
+
<geometry>
|
| 65 |
+
<mesh
|
| 66 |
+
filename="link1.STL" />
|
| 67 |
+
</geometry>
|
| 68 |
+
<material
|
| 69 |
+
name="">
|
| 70 |
+
<color
|
| 71 |
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rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
|
| 72 |
+
</material>
|
| 73 |
+
</visual>
|
| 74 |
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<collision>
|
| 75 |
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<origin
|
| 76 |
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xyz="0 0 0"
|
| 77 |
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rpy="0 0 0" />
|
| 78 |
+
<geometry>
|
| 79 |
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<mesh
|
| 80 |
+
filename="link1.STL" />
|
| 81 |
+
</geometry>
|
| 82 |
+
</collision>
|
| 83 |
+
</link>
|
| 84 |
+
<joint
|
| 85 |
+
name="joint1"
|
| 86 |
+
type="revolute">
|
| 87 |
+
<origin
|
| 88 |
+
xyz="0 0 0.123"
|
| 89 |
+
rpy="0 0 -1.5708" />
|
| 90 |
+
<parent
|
| 91 |
+
link="base_link" />
|
| 92 |
+
<child
|
| 93 |
+
link="link1" />
|
| 94 |
+
<axis
|
| 95 |
+
xyz="0 0 1" />
|
| 96 |
+
<limit
|
| 97 |
+
lower="-2.618"
|
| 98 |
+
upper="2.618"
|
| 99 |
+
effort="100"
|
| 100 |
+
velocity="0" />
|
| 101 |
+
</joint>
|
| 102 |
+
<link
|
| 103 |
+
name="link2">
|
| 104 |
+
<inertial>
|
| 105 |
+
<origin
|
| 106 |
+
xyz="0.147615838821413 -0.0174259998251393 0.00175952516190707"
|
| 107 |
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rpy="0 0 0" />
|
| 108 |
+
<mass
|
| 109 |
+
value="0.289571136953082" />
|
| 110 |
+
<inertia
|
| 111 |
+
ixx="0.000150112628108228"
|
| 112 |
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ixy="8.58974959950769E-05"
|
| 113 |
+
ixz="-1.07428153464285E-06"
|
| 114 |
+
iyy="0.00172585302855383"
|
| 115 |
+
iyz="-9.93704792239686E-07"
|
| 116 |
+
izz="0.00177445942914759" />
|
| 117 |
+
</inertial>
|
| 118 |
+
<visual>
|
| 119 |
+
<origin
|
| 120 |
+
xyz="0 0 0"
|
| 121 |
+
rpy="0 0 0" />
|
| 122 |
+
<geometry>
|
| 123 |
+
<mesh
|
| 124 |
+
filename="link2.STL" />
|
| 125 |
+
</geometry>
|
| 126 |
+
<material
|
| 127 |
+
name="">
|
| 128 |
+
<color
|
| 129 |
+
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
|
| 130 |
+
</material>
|
| 131 |
+
</visual>
|
| 132 |
+
<collision>
|
| 133 |
+
<origin
|
| 134 |
+
xyz="0 0 0"
|
| 135 |
+
rpy="0 0 0" />
|
| 136 |
+
<geometry>
|
| 137 |
+
<mesh
|
| 138 |
+
filename="link2.STL" />
|
| 139 |
+
</geometry>
|
| 140 |
+
</collision>
|
| 141 |
+
</link>
|
| 142 |
+
<joint
|
| 143 |
+
name="joint2"
|
| 144 |
+
type="revolute">
|
| 145 |
+
<origin
|
| 146 |
+
xyz="0 0 0"
|
| 147 |
+
rpy="1.5708 -0.10095 -1.5708" />
|
| 148 |
+
<parent
|
| 149 |
+
link="link1" />
|
| 150 |
+
<child
|
| 151 |
+
link="link2" />
|
| 152 |
+
<axis
|
| 153 |
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xyz="0 0 1" />
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| 154 |
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| 155 |
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lower="0"
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| 156 |
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upper="3.14"
|
| 157 |
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effort="100"
|
| 158 |
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velocity="1" />
|
| 159 |
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</joint>
|
| 160 |
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<link
|
| 161 |
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name="link3">
|
| 162 |
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<inertial>
|
| 163 |
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<origin
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| 164 |
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xyz="0.0156727246030052 0.104466514905741 0.000508486764144372"
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rpy="0 0 0" />
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value="0.290583247455324" />
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ixx="0.000221686352136266"
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iyz="-8.16202696860781E-07"
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izz="0.000241839316548946" />
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</inertial>
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xyz="0 0 0"
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rpy="0 0 0" />
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| 180 |
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<geometry>
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<mesh
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filename="link3.STL" />
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</geometry>
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| 185 |
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name="">
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rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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xyz="0 0 0"
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rpy="0 0 0" />
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filename="link3.STL" />
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</geometry>
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| 201 |
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name="joint3"
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| 202 |
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type="revolute">
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xyz="0.28503 0 0"
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rpy="0 0 1.3826" />
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link="link2" />
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<child
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link="link3" />
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xyz="0 0 1" />
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lower="-2.967"
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upper="0"
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effort="100"
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velocity="1" />
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</joint>
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<link
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| 219 |
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name="link4">
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| 220 |
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<inertial>
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xyz="0.000276464622388145 -0.00102803669324853 -0.00472830700561612"
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rpy="0 0 0" />
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value="0.127087348341362" />
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ixx="3.82011730423098E-05"
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izz="4.10592077565155E-05" />
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="link4.STL" />
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</geometry>
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name="">
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rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="link4.STL" />
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</geometry>
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</collision>
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</link>
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name="joint4"
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type="revolute">
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xyz="0.021984 0.25075 0"
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rpy="-1.5708 0 0" />
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<parent
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link="link3" />
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<child
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link="link4" />
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xyz="0 0 1" />
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lower="-1.832"
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upper="1.832"
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effort="100"
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velocity="1" />
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</joint>
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<link
|
| 277 |
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name="link5">
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<inertial>
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<origin
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xyz="8.82261259100015E-05 0.056682908434204 -0.00196119077436732"
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rpy="0 0 0" />
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value="0.144711209371719" />
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<inertia
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ixx="4.39644269159173E-05"
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ixy="-3.59214840853815E-08"
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iyz="-2.15407623722543E-07"
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izz="4.88713595021005E-05" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
|
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<mesh
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filename="link5.STL" />
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</geometry>
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| 300 |
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<material
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name="">
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rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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</material>
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</visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="link5.STL" />
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</geometry>
|
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</collision>
|
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</link>
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name="joint5"
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type="revolute">
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<origin
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xyz="0 0 0"
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rpy="1.5708 -0.087266 0" />
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<parent
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link="link4" />
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<child
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link="link5" />
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<axis
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xyz="0 0 1" />
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<limit
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lower="-1.22"
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upper="1.22"
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effort="100"
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velocity="1" />
|
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</joint>
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name="link6">
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<origin
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xyz="9.41121070072333E-09 0.000341209775988838 0.0342122921883722"
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rpy="0 0 0" />
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<mass
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value="0.150196458571266" />
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ixx="4.31750564711759E-05"
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iyy="9.99756357365307E-05"
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iyz="1.10337380549335E-07"
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izz="0.000118282295533688" />
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</inertial>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="link6.STL" />
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</geometry>
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<material
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name="">
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rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="link6.STL" />
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</geometry>
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</link>
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name="joint6"
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type="revolute">
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xyz="0 0.091 0.0014165"
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rpy="-1.5708 -1.5708 0" />
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<parent
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link="link5" />
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<child
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link="link6" />
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xyz="0 0 1" />
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lower="-3.14"
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upper="3.14"
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effort="100"
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velocity="1" />
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</joint>
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<link
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name="link7">
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<inertial>
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<origin
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xyz="-0.000277795893713934 -0.046767350270289 -0.00921029791141448"
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value="0.0264822500394006" />
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izz="1.42102253390315E-05" />
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="link7.STL" />
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</geometry>
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<material
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name="">
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rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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</visual>
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="link7.STL" />
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</geometry>
|
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</collision>
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</link>
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name="joint7"
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type="prismatic">
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<origin
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xyz="0 0 0.13503"
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rpy="1.5708 0 1.5708" />
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<parent
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link="link6" />
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<child
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link="link7" />
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<axis
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xyz="0 0 -1" />
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lower="-0.038"
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upper="0"
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effort="100"
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velocity="1" />
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</joint>
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<link
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name="link8">
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<inertial>
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xyz="0.000277795911672651 0.0467673513153836 -0.00921029799058583"
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rpy="0 0 0" />
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value="0.0264822490707451" />
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ixx="9.99782474142963E-06"
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izz="1.42102248648757E-05" />
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</inertial>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="link8.STL" />
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</geometry>
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<material
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name="">
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rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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</material>
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="link8.STL" />
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</geometry>
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name="joint8"
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type="prismatic">
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xyz="0 0 0.13503"
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rpy="-1.5708 0 1.5708" />
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link="link6" />
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<child
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link="link8" />
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xyz="0 0 1" />
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lower="0"
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upper="0.038"
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effort="100"
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velocity="1" />
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</joint>
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<!-- <link
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name="link8">
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<inertial>
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<origin
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xyz="-0.000277795893713934 -0.046767350270289 -0.00921029791141448"
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rpy="0 0 0" />
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value="0.0264822500394006" />
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ixx="9.99782519244544E-06"
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ixy="-1.57547595978589E-07"
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iyz="-1.58939504838734E-06"
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izz="1.42102253390315E-05" />
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</inertial>
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<visual>
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="link8.STL" />
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</geometry>
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<material
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name="">
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rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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</material>
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</visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="link8.STL" />
|
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</geometry>
|
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</collision>
|
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</link>
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<joint
|
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name="joint8"
|
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type="prismatic">
|
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<origin
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xyz="-0.037167 0 0.13503"
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rpy="1.5708 0 1.5708" />
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<parent
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link="link6" />
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<child
|
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link="link8" />
|
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<axis
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xyz="0 0 -1" />
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<limit
|
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lower="-0.038"
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upper="0"
|
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effort="100"
|
| 566 |
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velocity="1" />
|
| 567 |
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</joint> -->
|
| 568 |
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</robot>
|