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Franka sim #110

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merged 7 commits into from
Oct 12, 2020
Merged

Franka sim #110

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d02f1a4
adapted the urdf file of the franka robot and added an example of it
dinies Oct 7, 2020
ed5d8af
removed a printout
dinies Oct 7, 2020
6992caa
restored a blank line in iiwa.cpp
dinies Oct 8, 2020
078905f
make the arm move (and correct indent)
jbmouret Oct 8, 2020
2eb4250
put a line back in iiwa
jbmouret Oct 8, 2020
7cf5c37
[robots]: new Franka URDF and minor adaptation of example
costashatz Oct 10, 2020
4faf521
[waf]: fix minor thing
costashatz Oct 10, 2020
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304 changes: 304 additions & 0 deletions robots/franka/franka.urdf
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Original file line number Diff line number Diff line change
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<?xml version="1.0" encoding="utf-8" ?>
<robot name="panda">
<!-- Panda link 0 -->
<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>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0" />
<mass value="3.06" />
<inertia ixx="0.3" ixy="0.0" ixz="0.0" iyy="0.3" iyz="0.0" izz="0.3" />
</inertial>
</link>
<!-- Joint 1 from link 0 to 1 -->
<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" lower="-2.8973" upper="2.8973" velocity="2.1750" />
<dynamics damping="1.0" />
</joint>
<!-- Panda link 1 -->
<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>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0" />
<mass value="2.34" />
<inertia ixx="0.3" ixy="0.0" ixz="0.0" iyy="0.3" iyz="0.0" izz="0.3" />
</inertial>
</link>
<!-- Joint 2 from link 1 to 2 -->
<joint name="panda_joint2" type="revolute">
<origin rpy="-1.57079632679 0 0" xyz="0 0 0" />
<parent link="panda_link1" />
<child link="panda_link2" />
<axis xyz="0 0 1" />
<limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750" />
<dynamics damping="1.0" />
</joint>
<!-- Panda link 2 -->
<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>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0" />
<mass value="2.36" />
<inertia ixx="0.3" ixy="0.0" ixz="0.0" iyy="0.3" iyz="0.0" izz="0.3" />
</inertial>
</link>
<!-- Joint 3 from link 2 to 3 -->
<joint name="panda_joint3" type="revolute">
<origin rpy="1.57079632679 0 0" xyz="0 -0.316 0" />
<parent link="panda_link2" />
<child link="panda_link3" />
<axis xyz="0 0 1" />
<limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750" />
<dynamics damping="1.0" />
</joint>
<!-- Panda link 3 -->
<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>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0" />
<mass value="2.38" />
<inertia ixx="0.3" ixy="0.0" ixz="0.0" iyy="0.3" iyz="0.0" izz="0.3" />
</inertial>
</link>
<!-- Joint 4 from link 3 to 4 -->
<joint name="panda_joint4" type="revolute">
<origin rpy="1.57079632679 0 0" xyz="0.0825 0 0" />
<parent link="panda_link3" />
<child link="panda_link4" />
<axis xyz="0 0 1" />
<limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750" />
<dynamics damping="1.0" />
</joint>
<!-- Panda link 4 -->
<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>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0" />
<mass value="2.43" />
<inertia ixx="0.3" ixy="0.0" ixz="0.0" iyy="0.3" iyz="0.0" izz="0.3" />
</inertial>
</link>
<!-- Joint 5 from link 4 to 5 -->
<joint name="panda_joint5" type="revolute">
<origin rpy="-1.57079632679 0 0" xyz="-0.0825 0.384 0" />
<parent link="panda_link4" />
<child link="panda_link5" />
<axis xyz="0 0 1" />
<limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100" />
<dynamics damping="1.0" />
</joint>
<!-- Panda link 5 -->
<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>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0" />
<mass value="3.5" />
<inertia ixx="0.3" ixy="0.0" ixz="0.0" iyy="0.3" iyz="0.0" izz="0.3" />
</inertial>
</link>
<!-- Joint 6 from link 5 to 6 -->
<joint name="panda_joint6" type="revolute">
<origin rpy="1.57079632679 0 0" xyz="0 0 0" />
<parent link="panda_link5" />
<child link="panda_link6" />
<axis xyz="0 0 1" />
<limit effort="12" lower="-0.0175" upper="3.7525" velocity="2.6100" />
<dynamics damping="1.0" />
</joint>
<!-- Panda link 6 -->
<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>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0" />
<mass value="1.47" />
<inertia ixx="0.3" ixy="0.0" ixz="0.0" iyy="0.3" iyz="0.0" izz="0.3" />
</inertial>
</link>
<!-- Joint 7 from link 6 to 7 -->
<joint name="panda_joint7" type="revolute">
<origin rpy="1.57079632679 0 0" xyz="0.088 0 0" />
<parent link="panda_link6" />
<child link="panda_link7" />
<axis xyz="0 0 1" />
<limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100" />
<dynamics damping="1.0" />
</joint>
<!-- Panda link 7 -->
<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>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0" />
<mass value="0.45" />
<inertia ixx="0.3" ixy="0.0" ixz="0.0" iyy="0.3" iyz="0.0" izz="0.3" />
</inertial>
</link>
<!-- Fixed Joint 8 from link 7 to 8 -->
<joint name="panda_joint8" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.107" />
<parent link="panda_link7" />
<child link="panda_link8" />
<axis xyz="0 0 0" />
</joint>
<!-- Panda link 8 (not visualized) -->
<link name="panda_link8">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0" />
<mass value="1e-10" />
<inertia ixx="0.3" ixy="0.0" ixz="0.0" iyy="0.3" iyz="0.0" izz="0.3" />
</inertial>
</link>
<!-- Fixed Joint Hand from link 8 to hand -->
<joint name="panda_hand_joint" type="fixed">
<parent link="panda_link8" />
<child link="panda_hand" />
<origin rpy="0 0 -0.785398163397" xyz="0 0 0" />
</joint>
<!-- Panda link hand -->
<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>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0" />
<mass value="0.68" />
<inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
</inertial>
</link>
<!-- Joint from hand to left finger -->
<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="20" lower="0.0" upper="0.04" velocity="0.2" />
</joint>
<!-- Joint from hand to right finger -->
<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="20" lower="0.0" upper="0.04" velocity="0.2" />
<mimic joint="panda_finger_joint1" />
</joint>
<!-- Panda link left finger -->
<link name="panda_leftfinger">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/finger.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://franka_description/meshes/collision/finger.stl" />
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0" />
<mass value="0.01" />
<inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
</inertial>
</link>
<!-- Panda link right finger -->
<link name="panda_rightfinger">
<visual>
<origin rpy="0 0 3.14159265359" xyz="0 0 0" />
<geometry>
<mesh filename="package://franka_description/meshes/visual/finger.dae" />
</geometry>
</visual>
<collision>
<origin rpy="0 0 3.14159265359" xyz="0 0 0" />
<geometry>
<mesh filename="package://franka_description/meshes/collision/finger.stl" />
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0" />
<mass value="0.01" />
<inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
</inertial>
</link>
</robot>
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