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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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280 changes: 280 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"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from /home/joshua/workspaces/franka_cogimon_ws/src/franka_description/robots/panda_arm.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="franka" xmlns:xacro="http://www.ros.org/wiki/xacro">
<link name="world"/>
<joint name="panda_joint_world" type="fixed">
<parent link="world"/>
<child link="panda_link0"/>
<origin rpy="0 0 0" xyz="0 0 0.01"/>
</joint>
<link name="panda_link0">
<inertial>
<mass value="1.2"/>
<origin rpy="0 0 0" xyz="0 0 0.055"/>
<inertia ixx="0.00229" ixy="0" ixz="0" iyy="0.00216" iyz="0" izz="0.00229"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://franka_description/meshes/visual/link0.dae"
/>
</geometry>
<material name="White">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://franka_description/meshes/collision/link0.stl"/>
</geometry>
</collision>
</link>
<link name="panda_link1">
<inertial>
<mass value="2.0"/>
<origin rpy="0 0 0" xyz="0 0 0.130"/>
<inertia ixx="0.0136666666667" ixy="0" ixz="0" iyy="0.0118666666667" iyz="0" izz="0.003"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://franka_description//meshes/visual/link1.dae"/>
</geometry>
<material name="White">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://franka_description//meshes/collision/link1.stl"/>
</geometry>
</collision>
</link>
<joint name="panda_joint1" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.818745" soft_upper_limit="2.818745"/>
<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="-2.9671" upper="2.9671" velocity="2.5"/>
</joint>
<link name="panda_link2">
<inertial>
<mass value="2.0"/>
<origin rpy="0 0 0" xyz="0 -0.06 0.07"/>
<inertia ixx="0.0136666666667" ixy="0" ixz="0" iyy="0.0118666666667" iyz="0" izz="0.003"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://franka_description//meshes/visual/link2.dae"/>
</geometry>
<material name="White">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://franka_description//meshes/collision/link2.stl"/>
</geometry>
</collision>
</link>
<joint name="panda_joint2" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.74097" soft_upper_limit="1.74097"/>
<origin rpy="-1.570796326794897 0 0" xyz="0 0 0"/>
<parent link="panda_link1"/>
<child link="panda_link2"/>
<axis xyz="0 0 1"/>
<limit effort="87" lower="-1.8326" upper="1.8326" velocity="2.5"/>
</joint>
<link name="panda_link3">
<inertial>
<mass value="2.0"/>
<origin rpy="0 0 0" xyz="0 -0.06 0.130"/>
<inertia ixx="0.0136666666667" ixy="0" ixz="0" iyy="0.0118666666667" iyz="0" izz="0.003"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://franka_description//meshes/visual/link3.dae"/>
</geometry>
<material name="White">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://franka_description//meshes/collision/link3.stl"/>
</geometry>
</collision>
</link>
<joint name="panda_joint3" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.818745" soft_upper_limit="2.818745"/>
<origin rpy="1.570796326794897 0 0" xyz="0 -0.316 0"/>
<parent link="panda_link2"/>
<child link="panda_link3"/>
<axis xyz="0 0 1"/>
<limit effort="87" lower="-2.9671" upper="2.9671" velocity="2.5"/>
</joint>
<link name="panda_link4">
<inertial>
<mass value="2.0"/>
<origin rpy="0 0 0" xyz="0 0.06 0.07"/>
<inertia ixx="0.0136666666667" ixy="0" ixz="0" iyy="0.0118666666667" iyz="0" izz="0.003"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://franka_description//meshes/visual/link4.dae"/>
</geometry>
<material name="White">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://franka_description//meshes/collision/link4.stl"/>
</geometry>
</collision>
</link>
<joint name="panda_joint4" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.98452" soft_upper_limit="0.082935"/>
<origin rpy="1.570796326794897 0 0" xyz="0.0825 0 0"/>
<parent link="panda_link3"/>
<child link="panda_link4"/>
<axis xyz="0 0 1"/>
<limit effort="87" lower="-3.1416" upper="0.0873" velocity="2.5"/>
</joint>
<link name="panda_link5">
<inertial>
<mass value="2.0"/>
<origin rpy="0 0 0" xyz="0 0 0.124"/>
<inertia ixx="0.0126506666667" ixy="0" ixz="0" iyy="0.0108506666667" iyz="0" izz="0.003"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://franka_description//meshes/visual/link5.dae"/>
</geometry>
<material name="White">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://franka_description//meshes/collision/link5.stl"/>
</geometry>
</collision>
</link>
<joint name="panda_joint5" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.818745" soft_upper_limit="2.818745"/>
<origin rpy="-1.570796326794897 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="-2.9671" upper="2.9671" velocity="3"/>
</joint>
<link name="panda_link6">
<inertial>
<mass value="1.0"/>
<origin rpy="0 0 0" xyz="0 0 0.0"/>
<inertia ixx="0.00260416666667" ixy="0" ixz="0" iyy="0.00260416666667" iyz="0" izz="0.00260416666667"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://franka_description//meshes/visual/link6.dae"/>
</geometry>
<material name="White">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://franka_description//meshes/collision/link6.stl"/>
</geometry>
</collision>
</link>
<joint name="panda_joint6" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.082935" soft_upper_limit="3.631185"/>
<origin rpy="1.570796326794897 0 0" xyz="0 0 0"/>
<parent link="panda_link5"/>
<child link="panda_link6"/>
<axis xyz="0 0 1"/>
<limit effort="12" lower="-0.0873" upper="3.8223" velocity="3"/>
</joint>
<link name="panda_link7">
<inertial>
<mass value="0.2"/>
<origin xyz="0 0 0"/>
<inertia ixx="6.66666666667e-05" ixy="0" ixz="0" iyy="6.66666666667e-05" iyz="0" izz="0.00012"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://franka_description//meshes/visual/link7.dae"/>
</geometry>
<material name="White">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://franka_description//meshes/collision/link7.stl"/>
</geometry>
</collision>
</link>
<joint name="panda_joint7" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.818745" soft_upper_limit="2.818745"/>
<origin rpy="1.570796326794897 0 0" xyz="0.088 0 0"/>
<parent link="panda_link6"/>
<child link="panda_link7"/>
<axis xyz="0 0 1"/>
<limit effort="12" lower="-2.9671" upper="2.9671" velocity="3"/>
</joint>
<link name="panda_link8">
</link>
<joint name="panda_joint8" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.107"/>
<parent link="panda_link7"/>
<child link="panda_link8"/>
</joint>

<link name="box">
<visual>
<geometry>
<box size="0.02 0.02 0.20"/>
</geometry>
<material name="White"/>
<origin rpy="0 0 0" xyz="0. 0 0.1"/>
<parent link="panda_link8"/>
</visual>
</link>

<joint name="eef_to_box" type="fixed">
<parent link="panda_link8"/>
<child link="box"/>
<origin xyz="0.0 0.0 0.0"/>
</joint>

<gazebo reference="panda_link0"/>
<gazebo reference="panda_link1"/>
<gazebo reference="panda_link2"/>
<gazebo reference="panda_link3"/>
<gazebo reference="panda_link4"/>
<gazebo reference="panda_link5"/>
<gazebo reference="panda_link6"/>
<gazebo reference="panda_link7"/>
<gazebo reference="panda_link8"/>
</robot>
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176 changes: 176 additions & 0 deletions robots/franka/franka_description/meshes/visual/finger.dae
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