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Create Panda URDF Xacro, restore URDF for RobotModelTestUtils (#178)
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@henningkayser
henningkayser authored Jun 2, 2023
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4 changes: 4 additions & 0 deletions panda_description/README.md
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# panda_description

> Note: This package contains a panda.urdf and a newer panda.urdf.xacro.
> The XACRO has been created to support finding package resource files dynamically which is needed for Gazebo.
> The URDF is still needed by [RobotModelTestUtils](https://github.com/ros-planning/moveit2/blob/main/moveit_core/utils/src/robot_model_test_utils.cpp#L75) which doesn't support xacro yet.
The URDF model and meshes contained in this package were copied from the frankaemika `franka_ros` package and adapted for use with `moveit_resources`.

All imported files were released under the Apache-2.0 license.
108 changes: 22 additions & 86 deletions panda_description/urdf/panda.urdf
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Expand Up @@ -7,36 +7,26 @@
<link name="panda_link0">
<visual>
<geometry>
<mesh filename="file://$(find moveit_resources_panda_description)/meshes/visual/link0.dae" />
<mesh filename="package://moveit_resources_panda_description/meshes/visual/link0.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="file://$(find moveit_resources_panda_description)/meshes/collision/link0.stl" />
<mesh filename="package://moveit_resources_panda_description/meshes/collision/link0.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.041018 -0.00014 0.049974" rpy="0 0 0" />
<mass value="0.629769"/>
<inertia ixx="0.00315" iyy="0.00388" izz="0.004285" ixy="8.2904E-7" ixz="0.00015" iyz="8.2299E-6"/>
</inertial>
</link>
<link name="panda_link1">
<visual>
<geometry>
<mesh filename="file://$(find moveit_resources_panda_description)/meshes/visual/link1.dae" />
<mesh filename="package://moveit_resources_panda_description/meshes/visual/link1.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="file://$(find moveit_resources_panda_description)/meshes/collision/link1.stl" />
<mesh filename="package://moveit_resources_panda_description/meshes/collision/link1.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.003875 0.002081 -0.04762" rpy="0 0 0" />
<mass value="4.970684"/>
<inertia ixx="0.70337" iyy="0.70661" izz="0.009117" ixy="-0.000139" ixz="0.006772" iyz="0.019169"/>
</inertial>
</link>
<joint name="panda_joint1" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973" />
Expand All @@ -45,24 +35,18 @@
<child link="panda_link1" />
<axis xyz="0 0 1" />
<limit effort="87" lower="-2.9671" upper="2.9671" velocity="2.3925" />
<dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16" />
</joint>
<link name="panda_link2">
<visual>
<geometry>
<mesh filename="file://$(find moveit_resources_panda_description)/meshes/visual/link2.dae" />
<mesh filename="package://moveit_resources_panda_description/meshes/visual/link2.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="file://$(find moveit_resources_panda_description)/meshes/collision/link2.stl" />
<mesh filename="package://moveit_resources_panda_description/meshes/collision/link2.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.003141 -0.02872 0.003495" rpy="0 0 0" />
<mass value="0.646926"/>
<inertia ixx="0.007962" iyy="2.811E-2" izz="2.5995E-2" ixy="-3.925E-3" ixz="1.0254E-2" iyz="7.04E-4"/>
</inertial>
</link>
<joint name="panda_joint2" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628" />
Expand All @@ -71,24 +55,18 @@
<child link="panda_link2" />
<axis xyz="0 0 1" />
<limit effort="87" lower="-1.8326" upper="1.8326" velocity="2.3925" />
<dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16" />
</joint>
<link name="panda_link3">
<visual>
<geometry>
<mesh filename="file://$(find moveit_resources_panda_description)/meshes/visual/link3.dae" />
<mesh filename="package://moveit_resources_panda_description/meshes/visual/link3.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="file://$(find moveit_resources_panda_description)/meshes/collision/link3.stl" />
<mesh filename="package://moveit_resources_panda_description/meshes/collision/link3.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="2.7518E-2 3.9252E-2 -6.6502E-2" rpy="0 0 0" />
<mass value="3.228604"/>
<inertia ixx="3.7242E-2" iyy="3.6155E-2" izz="1.083E-2" ixy="-4.761E-3" ixz="-1.1396E-2" iyz="-1.2805E-2"/>
</inertial>
</link>
<joint name="panda_joint3" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973" />
Expand All @@ -97,24 +75,18 @@
<child link="panda_link3" />
<axis xyz="0 0 1" />
<limit effort="87" lower="-2.9671" upper="2.9671" velocity="2.3925" />
<dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16" />
</joint>
<link name="panda_link4">
<visual>
<geometry>
<mesh filename="file://$(find moveit_resources_panda_description)/meshes/visual/link4.dae" />
<mesh filename="package://moveit_resources_panda_description/meshes/visual/link4.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="file://$(find moveit_resources_panda_description)/meshes/collision/link4.stl" />
<mesh filename="package://moveit_resources_panda_description/meshes/collision/link4.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="-5.317E-2 1.04419E-1 2.7454E-2" rpy="0 0 0" />
<mass value="3.587895"/>
<inertia ixx="2.5853E-2" iyy="1.9552E-2" izz="2.8323E-2" ixy="7.796E-3" ixz="-1.332E-3" iyz="8.641E-3"/>
</inertial>
</link>
<joint name="panda_joint4" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="0.0175" />
Expand All @@ -123,24 +95,18 @@
<child link="panda_link4" />
<axis xyz="0 0 1" />
<limit effort="87" lower="-3.1416" upper="0.0873" velocity="2.3925" />
<dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16" />
</joint>
<link name="panda_link5">
<visual>
<geometry>
<mesh filename="file://$(find moveit_resources_panda_description)/meshes/visual/link5.dae" />
<mesh filename="package://moveit_resources_panda_description/meshes/visual/link5.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="file://$(find moveit_resources_panda_description)/meshes/collision/link5.stl" />
<mesh filename="package://moveit_resources_panda_description/meshes/collision/link5.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="-1.1953E-2 4.1065E-2 -3.8437E-2" rpy="0 0 0" />
<mass value="1.225946"/>
<inertia ixx="3.5549E-2" iyy="2.9474E-2" izz="8.627E-3" ixy="-2.117E-3" ixz="-4.037E-3" iyz="2.29E-4"/>
</inertial>
</link>
<joint name="panda_joint5" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973" />
Expand All @@ -149,24 +115,18 @@
<child link="panda_link5" />
<axis xyz="0 0 1" />
<limit effort="12" lower="-2.9671" upper="2.9671" velocity="2.8710" />
<dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16" />
</joint>
<link name="panda_link6">
<visual>
<geometry>
<mesh filename="file://$(find moveit_resources_panda_description)/meshes/visual/link6.dae" />
<mesh filename="package://moveit_resources_panda_description/meshes/visual/link6.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="file://$(find moveit_resources_panda_description)/meshes/collision/link6.stl" />
<mesh filename="package://moveit_resources_panda_description/meshes/collision/link6.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="6.0149E-2 -1.4117E-2 -1.0517E-2" rpy="0 0 0" />
<mass value="1.666555"/>
<inertia ixx="1.964E-3" iyy="4.354E-3" izz="5.433E-3" ixy="1.09E-4" ixz="-1.158E-3" iyz="3.41E-4"/>
</inertial>
</link>
<joint name="panda_joint6" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525" />
Expand All @@ -175,24 +135,18 @@
<child link="panda_link6" />
<axis xyz="0 0 1" />
<limit effort="12" lower="-0.0873" upper="3.8223" velocity="2.8710" />
<dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16" />
</joint>
<link name="panda_link7">
<visual>
<geometry>
<mesh filename="file://$(find moveit_resources_panda_description)/meshes/visual/link7.dae" />
<mesh filename="package://moveit_resources_panda_description/meshes/visual/link7.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="file://$(find moveit_resources_panda_description)/meshes/collision/link7.stl" />
<mesh filename="package://moveit_resources_panda_description/meshes/collision/link7.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="1.0517E-2 -4.252E-3 6.1597E-2" rpy="0 0 0" />
<mass value="7.35522E-1"/>
<inertia ixx="1.2516E-2" iyy="1.0027E-2" izz="4.815E-3" ixy="-4.28E-4" ixz="-1.19E-3" iyz="-7.41E-4"/>
</inertial>
</link>
<joint name="panda_joint7" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973" />
Expand All @@ -201,7 +155,6 @@
<child link="panda_link7" />
<axis xyz="0 0 1" />
<limit effort="12" lower="-2.9671" upper="2.9671" velocity="2.8710" />
<dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16" />
</joint>
<link name="panda_link8" />
<joint name="panda_joint8" type="fixed">
Expand All @@ -218,63 +171,47 @@
<link name="panda_hand">
<visual>
<geometry>
<mesh filename="file://$(find moveit_resources_panda_description)/meshes/visual/hand.dae" />
<mesh filename="package://moveit_resources_panda_description/meshes/visual/hand.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="file://$(find moveit_resources_panda_description)/meshes/collision/hand.stl" />
<mesh filename="package://moveit_resources_panda_description/meshes/collision/hand.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.01 0 0.03" rpy="0 0 0" />
<mass value="0.73"/>
<inertia ixx="0.001" iyy="0.0025" izz="0.0017" ixy="0" ixz="0" iyz="0"/>
</inertial>
</link>
<link name="panda_leftfinger">
<visual>
<geometry>
<mesh filename="file://$(find moveit_resources_panda_description)/meshes/visual/finger.dae" />
<mesh filename="package://moveit_resources_panda_description/meshes/visual/finger.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="file://$(find moveit_resources_panda_description)/meshes/collision/finger.stl" />
<mesh filename="package://moveit_resources_panda_description/meshes/collision/finger.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="0.015"/>
<inertia ixx="2.375E-6" iyy="2.375E-6" izz="7.5E-7" ixy="0" ixz="0" iyz="0"/>
</inertial>
</link>
<link name="panda_rightfinger">
<visual>
<origin rpy="0 0 3.14159265359" xyz="0 0 0" />
<geometry>
<mesh filename="file://$(find moveit_resources_panda_description)/meshes/visual/finger.dae" />
<mesh filename="package://moveit_resources_panda_description/meshes/visual/finger.dae" />
</geometry>
</visual>
<collision>
<origin rpy="0 0 3.14159265359" xyz="0 0 0" />
<geometry>
<mesh filename="file://$(find moveit_resources_panda_description)/meshes/collision/finger.stl" />
<mesh filename="package://moveit_resources_panda_description/meshes/collision/finger.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="0.15"/>
<inertia ixx="2.375E-6" iyy="2.375E-6" izz="7.5E-7" ixy="0" ixz="0" iyz="0"/>
</inertial>
</link>
<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" />
<dynamics damping="0.3" />
</joint>
<joint name="panda_finger_joint2" type="prismatic">
<parent link="panda_hand" />
Expand All @@ -283,6 +220,5 @@
<axis xyz="0 -1 0" />
<limit effort="20" lower="0.0" upper="0.04" velocity="0.2" />
<mimic joint="panda_finger_joint1" />
<dynamics damping="0.3" />
</joint>
</robot>
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