From 157cb9dfec5ad306cdd206344cea66d5202dc874 Mon Sep 17 00:00:00 2001
From: Wim Meeussen <wim@willowgarage.com>
Date: Tue, 20 Mar 2012 10:59:23 -0700
Subject: [PATCH] add collision, inertial and joint dynamics
---
.../urdf/robot.urdf.xacro | 93 +++++++++++++++++--
1 file changed, 86 insertions(+), 7 deletions(-)
diff --git a/universal_robot_description/urdf/robot.urdf.xacro b/universal_robot_description/urdf/robot.urdf.xacro
index 95f04c6..d2307e0 100644
--- a/universal_robot_description/urdf/robot.urdf.xacro
+++ b/universal_robot_description/urdf/robot.urdf.xacro
@@ -5,12 +5,15 @@
<property name="shoulder_height" value="0.1" />
<property name="shoulder_offset" value="0.1" />
+ <property name="shoulder_radius" value="0.1" />
<property name="upper_arm_length" value="0.5" />
+ <property name="upper_arm_radius" value="0.05" />
<property name="forearm_length" value="0.5" />
+ <property name="forearm_radius" value="0.03" />
<property name="wrist_1_length" value="0.1" />
<property name="wrist_2_length" value="0.1" />
<property name="wrist_3_length" value="0.1" />
-
+ <property name="wrist_radius" value="0.03" />
<link name="base_link" />
@@ -20,15 +23,26 @@
<origin xyz="0.0 0.0 ${shoulder_height}" rpy="0.0 0.0 0.0" />
<axis xyz="0.0 0.0 1.0" />
<limit lower="-${pi}" upper="${pi}" effort="10.0" velocity="1.0"/>
+ <dynamics damping="0.1" friction="0.1"/>
</joint>
<link name="shoulder_link">
<visual>
<geometry>
- <cylinder length="${shoulder_height}" radius="0.1"/>
+ <cylinder length="${shoulder_height}" radius="${shoulder_radius}"/>
</geometry>
<origin xyz="0.0 0.0 ${-shoulder_height/2.0}" rpy="0.0 0.0 0.0" />
</visual>
+ <collision>
+ <geometry>
+ <cylinder length="${shoulder_height}" radius="${shoulder_radius}"/>
+ </geometry>
+ <origin xyz="0.0 0.0 ${-shoulder_height/2.0}" rpy="0.0 0.0 0.0" />
+ </collision>
+ <inertial>
+ <mass value="10" />
+ <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+ </inertial>
</link>
<joint name="shoulder_lift_joint" type="revolute">
@@ -37,15 +51,26 @@
<origin xyz="0.0 ${shoulder_offset} 0.0" rpy="0.0 0.0 0.0" />
<axis xyz="0.0 1.0 0.0" />
<limit lower="-${pi}" upper="${pi}" effort="10.0" velocity="1.0"/>
+ <dynamics damping="0.1" friction="0.1"/>
</joint>
<link name="upper_arm_link">
<visual>
<geometry>
- <cylinder length="${upper_arm_length}" radius="0.05"/>
+ <cylinder length="${upper_arm_length}" radius="${upper_arm_radius}"/>
</geometry>
<origin xyz="0.0 0.0 ${upper_arm_length/2.0}" rpy="0.0 0.0 0.0" />
</visual>
+ <collision>
+ <geometry>
+ <cylinder length="${upper_arm_length}" radius="${upper_arm_radius}"/>
+ </geometry>
+ <origin xyz="0.0 0.0 ${upper_arm_length/2.0}" rpy="0.0 0.0 0.0" />
+ </collision>
+ <inertial>
+ <mass value="10" />
+ <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+ </inertial>
</link>
<joint name="elbow_joint" type="revolute">
@@ -54,15 +79,26 @@
<origin xyz="0.0 ${-shoulder_offset} ${upper_arm_length}" rpy="0.0 0.0 0.0" />
<axis xyz="0.0 -1.0 0.0" />
<limit lower="-${pi}" upper="${pi}" effort="10.0" velocity="1.0"/>
+ <dynamics damping="0.1" friction="0.1"/>
</joint>
<link name="forearm_link">
<visual>
<geometry>
- <cylinder length="${forearm_length}" radius="0.05"/>
+ <cylinder length="${forearm_length}" radius="${forearm_radius}"/>
</geometry>
<origin xyz="0.0 0.0 ${forearm_length/2.0}" rpy="0.0 0.0 0.0" />
</visual>
+ <collision>
+ <geometry>
+ <cylinder length="${forearm_length}" radius="${forearm_radius}"/>
+ </geometry>
+ <origin xyz="0.0 0.0 ${forearm_length/2.0}" rpy="0.0 0.0 0.0" />
+ </collision>
+ <inertial>
+ <mass value="10" />
+ <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+ </inertial>
</link>
<joint name="wrist_1_joint" type="revolute">
@@ -71,15 +107,26 @@
<origin xyz="0.0 0.0 ${forearm_length}" rpy="0.0 0.0 0.0" />
<axis xyz="0.0 1.0 0.0" />
<limit lower="-${pi}" upper="${pi}" effort="10.0" velocity="1.0"/>
+ <dynamics damping="0.1" friction="0.1"/>
</joint>
<link name="wrist_1_link">
<visual>
<geometry>
- <cylinder length="${wrist_1_length}" radius="0.05"/>
+ <cylinder length="${wrist_1_length}" radius="${wrist_radius}"/>
</geometry>
<origin xyz="0.0 ${wrist_1_length/2.0} 0.0" rpy="-${pi/2.0} 0.0 0.0" />
</visual>
+ <collision>
+ <geometry>
+ <cylinder length="${wrist_1_length}" radius="${wrist_radius}"/>
+ </geometry>
+ <origin xyz="0.0 ${wrist_1_length/2.0} 0.0" rpy="-${pi/2.0} 0.0 0.0" />
+ </collision>
+ <inertial>
+ <mass value="10" />
+ <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+ </inertial>
</link>
<joint name="wrist_2_joint" type="revolute">
@@ -88,15 +135,26 @@
<origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0.0 0.0 0.0" />
<axis xyz="0.0 0.0 1.0" />
<limit lower="-${pi}" upper="${pi}" effort="10.0" velocity="1.0"/>
+ <dynamics damping="0.1" friction="0.1"/>
</joint>
<link name="wrist_2_link">
<visual>
<geometry>
- <cylinder length="${wrist_2_length}" radius="0.05"/>
+ <cylinder length="${wrist_2_length}" radius="${wrist_radius}"/>
</geometry>
<origin xyz="0.0 0.0 ${wrist_2_length/2.0}" rpy="0.0 0.0 0.0" />
</visual>
+ <collision>
+ <geometry>
+ <cylinder length="${wrist_2_length}" radius="${wrist_radius}"/>
+ </geometry>
+ <origin xyz="0.0 0.0 ${wrist_2_length/2.0}" rpy="0.0 0.0 0.0" />
+ </collision>
+ <inertial>
+ <mass value="10" />
+ <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+ </inertial>
</link>
<joint name="wrist_3_joint" type="revolute">
@@ -105,15 +163,26 @@
<origin xyz="0.0 0.0 ${wrist_3_length}" rpy="0.0 0.0 0.0" />
<axis xyz="0.0 1.0 0.0" />
<limit lower="-${pi}" upper="${pi}" effort="10.0" velocity="1.0"/>
+ <dynamics damping="0.1" friction="0.1"/>
</joint>
<link name="wrist_3_link">
<visual>
<geometry>
- <cylinder length="${wrist_3_length}" radius="0.05"/>
+ <cylinder length="${wrist_3_length}" radius="${wrist_radius}"/>
</geometry>
<origin xyz="0.0 ${wrist_3_length/2.0} 0.0" rpy="${-pi/2.0} 0.0 0.0" />
</visual>
+ <collision>
+ <geometry>
+ <cylinder length="${wrist_3_length}" radius="${wrist_radius}"/>
+ </geometry>
+ <origin xyz="0.0 ${wrist_3_length/2.0} 0.0" rpy="${-pi/2.0} 0.0 0.0" />
+ </collision>
+ <inertial>
+ <mass value="10" />
+ <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+ </inertial>
</link>
<joint name="ee_fixed_joint" type="fixed">
@@ -129,6 +198,16 @@
</geometry>
<origin xyz="0.0 0.0 0.0" rpy="0.0 ${-pi/2.0} 0.0" />
</visual>
+ <collision>
+ <geometry>
+ <cylinder length="0.01" radius="0.06"/>
+ </geometry>
+ <origin xyz="0.0 0.0 0.0" rpy="0.0 ${-pi/2.0} 0.0" />
+ </collision>
+ <inertial>
+ <mass value="10" />
+ <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+ </inertial>
</link>
</robot>
--
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