From f4fca7b3ca84288aa4c695c20863cfa78b11a6be Mon Sep 17 00:00:00 2001
From: ipa-fxm <felix.messmer@ipa.fhg.de>
Date: Tue, 21 Oct 2014 12:04:24 +0000
Subject: [PATCH] remove obsolete file
---
.../urdf/ur10_joint_limited.urdf.xacro | 284 ------------------
1 file changed, 284 deletions(-)
delete mode 100644 ur_description/urdf/ur10_joint_limited.urdf.xacro
diff --git a/ur_description/urdf/ur10_joint_limited.urdf.xacro b/ur_description/urdf/ur10_joint_limited.urdf.xacro
deleted file mode 100644
index 1f4860c..0000000
--- a/ur_description/urdf/ur10_joint_limited.urdf.xacro
+++ /dev/null
@@ -1,284 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-
- <xacro:include filename="$(find ur_description)/urdf/ur10.transmission.xacro" />
- <xacro:include filename="$(find ur_description)/urdf/ur10.gazebo.xacro" />
- <xacro:include filename="$(find ur_description)/urdf/materials.urdf.xacro" />
-
- <property name="pi" value="3.14159265" />
-
- <!-- Inertia parameters -->
- <property name="base_mass" value="4.0" />
- <property name="shoulder_mass" value="3.7000" />
- <property name="upper_arm_mass" value="8.3930" />
- <property name="forearm_mass" value="2.2750" />
- <property name="wrist_1_mass" value="1.2190" />
- <property name="wrist_2_mass" value="1.2190" />
- <property name="wrist_3_mass" value="0.1879" />
-
- <property name="shoulder_cog" value="0.0 0.00193 -0.02561" />
- <property name="upper_arm_cog" value="0.0 -0.024201 0.2125" />
- <property name="forearm_cog" value="0.0 0.0265 0.11993" />
- <property name="wrist_1_cog" value="0.0 0.110949 0.01634" />
- <property name="wrist_2_cog" value="0.0 0.0018 0.11099" />
- <property name="wrist_3_cog" value="0.0 0.001159 0.0" />
-
- <!-- Kinematic model -->
- <property name="shoulder_height" value="0.128" />
- <property name="shoulder_offset" value="0.1704" />
- <property name="upper_arm_length" value="0.60186" />
- <property name="elbow_offset" value="0.12817" />
- <property name="forearm_length" value="0.56415" />
- <property name="wrist_1_length" value="0.11279" />
- <property name="wrist_2_length" value="0.11279" />
- <property name="wrist_3_length" value="0.0857" />
-
- <property name="shoulder_radius" value="0.060" />
- <property name="upper_arm_radius" value="0.054" />
- <property name="elbow_radius" value="0.060" />
- <property name="forearm_radius" value="0.040" />
- <property name="wrist_radius" value="0.045" />
-
- <!-- Collision model -->
- <property name="base_collision_length" value="0.160" />
- <property name="shoulder_collision_length" value="0.200" />
- <property name="shoulder_collision_offset" value="0.035" />
- <property name="elbow_collision_length" value="0.200" />
- <property name="elbow_collision_offset" value="0.035" />
-
-
-
- <xacro:macro name="ur10_robot" params="prefix">
-
- <link name="${prefix}base_link" >
- </link>
-
- <joint name="${prefix}base_link_joint" type="fixed">
- <parent link="${prefix}base_link" />
- <child link = "${prefix}ur_base_link" />
- <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
- </joint>
-
- <link name="${prefix}ur_base_link" >
- <visual>
- <geometry>
- <mesh filename="package://ur_description/meshes/ur10/visual/Base.stl" />
- </geometry>
- <origin xyz="0.0 0.0 0.003" rpy="0.0 0.0 ${3.0 * pi / 4.0}" />
- <material name="UR/Blue" />
- </visual>
-
- <collision>
- <geometry>
- <mesh filename="package://ur_description/meshes/ur10/collision/Base.stl" />
- </geometry>
- <origin xyz="0.0 0.0 0.003" rpy="0.0 0.0 ${3.0 * pi / 4.0}" />
- </collision>
-
- <inertial>
- <mass value="${base_mass}" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- </link>
-
- <joint name="${prefix}shoulder_pan_joint" type="revolute">
- <parent link="${prefix}ur_base_link" />
- <child link = "${prefix}shoulder_link" />
- <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="${pi}" effort="330.0" velocity="2.16"/>
- <dynamics damping="1.2" friction="0.0"/>
- </joint>
-
- <link name="${prefix}shoulder_link">
- <visual>
- <geometry>
- <mesh filename="package://ur_description/meshes/ur10/visual/Shoulder.stl" />
- </geometry>
- <material name="UR/Grey" />
- </visual>
-
- <collision>
- <geometry>
- <mesh filename="package://ur_description/meshes/ur10/collision/Shoulder.stl" />
- </geometry>
- </collision>
-
- <inertial>
- <mass value="${shoulder_mass}" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- <origin xyz="${shoulder_cog}" rpy="0.0 0.0 0.0" />
- </inertial>
- </link>
-
- <joint name="${prefix}shoulder_lift_joint" type="revolute">
- <parent link="${prefix}shoulder_link" />
- <child link = "${prefix}upper_arm_link" />
- <origin xyz="0.0 ${shoulder_offset} 0.0" rpy="0.0 ${pi / 2.0} 0.0" />
- <axis xyz="0.0 1.0 0.0" />
- <limit lower="${-pi}" upper="${pi}" effort="10.0" velocity="${pi}"/>
- <dynamics damping="1.2" friction="0.0"/>
- </joint>
-
- <link name="${prefix}upper_arm_link">
- <visual>
- <geometry>
- <mesh filename="package://ur_description/meshes/ur10/visual/UpperArm.stl" />
- </geometry>
- <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
- <material name="UR/Blue" />
- </visual>
-
- <collision>
- <geometry>
- <mesh filename="package://ur_description/meshes/ur10/collision/UpperArm.stl" />
- </geometry>
- <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
- </collision>
-
- <inertial>
- <mass value="${upper_arm_mass}" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- <origin xyz="${upper_arm_cog}" rpy="0.0 0.0 0.0" />
- </inertial>
- </link>
-
- <joint name="${prefix}elbow_joint" type="revolute">
- <parent link="${prefix}upper_arm_link" />
- <child link = "${prefix}forearm_link" />
- <origin xyz="0.0 ${-elbow_offset} ${upper_arm_length}" rpy="0.0 0.0 0.0" />
- <axis xyz="0.0 1.0 0.0" />
- <limit lower="${-pi}" upper="${pi}" effort="150.0" velocity="${pi}"/>
- <dynamics damping="0.6" friction="0.0"/>
- </joint>
-
- <link name="${prefix}forearm_link">
- <visual>
- <geometry>
- <mesh filename="package://ur_description/meshes/ur10/visual/Forearm.stl" />
- </geometry>
- <material name="UR/Grey" />
- </visual>
-
- <collision>
- <geometry>
- <mesh filename="package://ur_description/meshes/ur10/collision/Forearm.stl" />
- </geometry>
- </collision>
-
- <inertial>
- <mass value="${forearm_mass}" />
- <origin xyz="${forearm_cog}" rpy="0.0 0.0 0.0" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- </link>
-
- <joint name="${prefix}wrist_1_joint" type="revolute">
- <parent link="${prefix}forearm_link" />
- <child link = "${prefix}wrist_1_link" />
- <origin xyz="0.0 0.0 ${forearm_length}" rpy="0.0 ${pi / 2.0} 0.0" />
- <axis xyz="0.0 1.0 0.0" />
- <limit lower="${-pi}" upper="${pi}" effort="54.0" velocity="${pi}"/>
- <dynamics damping="0.6" friction="0.0"/>
- </joint>
-
- <link name="${prefix}wrist_1_link">
- <visual>
- <geometry>
- <mesh filename="package://ur_description/meshes/ur10/visual/Wrist1.stl" />
- </geometry>
- <origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0.0 0 0.0" />
- <material name="UR/Blue" />
- </visual>
-
- <collision>
- <geometry>
- <mesh filename="package://ur_description/meshes/ur10/collision/Wrist1.stl" />
- </geometry>
- <origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0.0 0 0.0" />
- </collision>
-
- <inertial>
- <mass value="${wrist_1_mass}" />
- <origin xyz="${wrist_1_cog}" rpy="0.0 0.0 0.0" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- </link>
-
- <joint name="${prefix}wrist_2_joint" type="revolute">
- <parent link="${prefix}wrist_1_link" />
- <child link = "${prefix}wrist_2_link" />
- <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="${pi}" effort="54.0" velocity="${pi}"/>
- <dynamics damping="0.6" friction="0.0"/>
- </joint>
-
- <link name="${prefix}wrist_2_link">
- <visual>
- <geometry>
- <mesh filename="package://ur_description/meshes/ur10/visual/Wrist2.stl" />
- </geometry>
- <origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0.0 0.0 0.0" />
- <material name="UR/Grey" />
- </visual>
-
- <collision>
- <geometry>
- <mesh filename="package://ur_description/meshes/ur10/collision/Wrist2.stl" />
- </geometry>
- <origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0.0 0.0 0.0" />
- </collision>
-
- <inertial>
- <mass value="${wrist_2_mass}" />
- <origin xyz="${wrist_2_cog}" rpy="0.0 0.0 0.0" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- </link>
-
- <joint name="${prefix}wrist_3_joint" type="revolute">
- <parent link="${prefix}wrist_2_link" />
- <child link = "${prefix}wrist_3_link" />
- <origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0.0 0.0 0.0" />
- <axis xyz="0.0 1.0 0.0" />
- <limit lower="${-pi}" upper="${pi}" effort="54.0" velocity="${pi}"/>
- <dynamics damping="0.6" friction="0.0"/>
- </joint>
-
- <link name="${prefix}wrist_3_link">
- <visual>
- <geometry>
- <mesh filename="package://ur_description/meshes/ur10/visual/Wrist3.stl" />
- </geometry>
- <origin xyz="0.0 ${wrist_3_length} 0.0" rpy="0.0 0.0 0" />
- <material name="UR/Blue" />
- </visual>
-
- <collision>
- <geometry>
- <mesh filename="package://ur_description/meshes/ur10/collision/Wrist3.stl" />
- </geometry>
- <origin xyz="0.0 ${wrist_3_length} 0.0" rpy="0.0 0.0 0" />
- </collision>
-
- <inertial>
- <mass value="${wrist_3_mass}" />
- <origin xyz="${wrist_3_cog}" rpy="0.0 0.0 0.0" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- </link>
-
- <joint name="${prefix}ee_fixed_joint" type="fixed">
- <parent link="${prefix}wrist_3_link" />
- <child link = "${prefix}ee_link" />
- <origin xyz="0.0 ${wrist_3_length} 0.0" rpy="0.0 0.0 ${pi/2.0}" />
- </joint>
-
- <link name="${prefix}ee_link" />
-
- <xacro:ur10_arm_transmission prefix="${prefix}" />
- <xacro:ur10_arm_gazebo prefix="${prefix}" />
-
- </xacro:macro>
-</robot>
--
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