3118 lines
130 KiB
XML
3118 lines
130 KiB
XML
<?xml version="1.0" ?><robot name="pr2">
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<!-- Include file with calibration parameters -->
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<!-- declare the path where all models/textures/materials are stored -->
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<resource location="/u/meeussen/ros/ros-pkg-svn/stacks/pr2_common/pr2_defs/meshes" type="stl_meshes"/>
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<resource location="/u/meeussen/ros/ros-pkg-svn/stacks/pr2_common/pr2_ogre/Media/models" type="ogre"/>
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<gazebo>
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<!-- PR2_ACTARRAY -->
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<controller:gazebo_mechanism_control name="gazebo_mechanism_control" plugin="libgazebo_mechanism_control.so">
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<alwaysOn>true</alwaysOn>
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<updateRate>1000.0</updateRate>
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<interface:audio name="gazebo_mechanism_control_dummy_iface"/>
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</controller:gazebo_mechanism_control>
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<!-- battery controls -->
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<controller:gazebo_battery name="gazebo_battery_controller" plugin="libgazebo_battery.so">
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<alwaysOn>true</alwaysOn>
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<updateRate>1.0</updateRate>
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<timeout>5</timeout>
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<default_consumption_rate>-10.0</default_consumption_rate> <!-- -5 is the magic number, need to be smaller than that CM -->
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<diagnostic_rate>1.0</diagnostic_rate>
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<battery_state_rate>10.0</battery_state_rate> <!-- does nothing for now-->
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<full_charge_energy>1200000.0</full_charge_energy>
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<diagnosticTopicName>diagnostic</diagnosticTopicName>
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<stateTopicName>battery_state</stateTopicName>
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<selfTestServiceName>self_test</selfTestServiceName>
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<interface:audio name="battery_dummy_interface"/>
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</controller:gazebo_battery>
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<controller:ros_time name="ros_time" plugin="libros_time.so">
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<alwaysOn>true</alwaysOn>
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<updateRate>1000.0</updateRate>
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<interface:audio name="dummy_ros_time_iface_should_not_be_here"/>
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</controller:ros_time>
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</gazebo>
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<material name="Blue">
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<color rgba="0.0 0.0 0.8 1.0"/>
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</material><material name="Green">
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<color rgba="0.0 0.8 0.0 1.0"/>
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</material><material name="Grey">
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<color rgba="0.7 0.7 0.7 1.0"/>
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</material><material name="Grey2">
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<color rgba="0.9 0.9 0.9 1.0"/>
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</material><material name="Red">
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<color rgba="0.8 0.0 0.0 1.0"/>
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</material><material name="White">
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<color rgba="1.0 1.0 1.0 1.0"/>
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</material><material name="Caster_l">
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<texture filename="package://pr2_ogre/Media/materials/textures/pr2_wheel_left.png"/>
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</material><material name="Caster_r">
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<texture filename="package://pr2_ogre/Media/materials/textures/pr2_wheel_right.png"/>
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</material><material name="RollLinks">
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<texture filename="package://pr2_ogre/Media/materials/textures/pr2_wheel_left.png"/>
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</material>
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<joint name="base_joint" type="planar">
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<origin rpy="0 0 0" xyz="0 0 0.051"/>
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<parent link="world"/>
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<child link="base_link"/>
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</joint><link name="base_link">
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<inertial>
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<mass value="116.0"/>
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<origin xyz="-0.061 0.0 0.293"/>
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<inertia ixx="5.652232699207" ixy="-0.009719934438" ixz="1.293988226423" iyy="5.669473158652" iyz="-0.007379583694" izz="3.683196351726"/>
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</inertial>
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<visual name="base_visual">
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<origin rpy="0 0 0" xyz="0 0 0.05"/>
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<geometry name="base_visual_geom">
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<mesh filename="package://pr2_defs/meshes/base.stl"/>
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</geometry>
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<material name="Green"/>
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</visual>
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<collision name="base_collision">
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<origin rpy="0 0 0" xyz="0 0 0.165"/>
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<geometry name="base_collision_geom">
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<box size="0.65 0.65 0.23"/>
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</geometry>
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</collision>
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</link><joint name="base_laser_joint" type="fixed">
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<origin rpy="0 0 0" xyz="0.275 0.0 0.302"/>
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<parent link="base_link"/>
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<child link="base_laser"/>
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</joint><link name="base_laser" type="laser">
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<inertial>
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<mass value="1.0"/>
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<origin xyz="0 0 0"/>
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<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
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</inertial>
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<visual name="base_lvisual">
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<origin rpy="0 0 0" xyz="0 0 0.02"/>
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<geometry name="base_laser_visual_geom">
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<box size="0.06 0.06 0.03"/>
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</geometry>
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<material name="Red"/>
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</visual>
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<collision name="base_lcollision">
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<origin rpy="0 0 0" xyz="0 0 0.02"/>
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<geometry name="base_laser_collision_geom">
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<box size="0.06 0.06 0.03"/>
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</geometry>
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</collision>
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</link><joint name="plug_magnet_joint" type="fixed">
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<origin rpy="0 0 0" xyz="0.18 0 0.285"/>
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<parent link="base_link"/>
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<child link="plug_magnet"/>
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</joint><link name="plug_magnet" type="laser">
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<inertial>
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<mass value="0.1"/>
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<origin xyz="0 0 0.0"/>
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<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
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</inertial>
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<visual name="plug_mavisual">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry name="plug_magnet_visual_geom">
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<box size="0.001 0.001 0.001"/>
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</geometry>
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</visual>
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<collision name="plug_macollision">
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<origin rpy="0 0 0" xyz="0 0 0.0"/>
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<geometry name="plug_magnet_collision_geom">
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<box size=".001 .001 .001"/>
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</geometry>
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</collision>
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</link><joint name="fl_caster_rotation_joint" type="continuous">
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<axis xyz="0 0 1"/>
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<limit effort="100" velocity="100"/>
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<safety_controller k_velocity="10"/>
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<calibration reference_position="0.0"/>
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<dynamics damping="0.0" friction="0.0"/>
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<origin rpy="0 0 0" xyz="0.2225 0.2225 0.0282"/>
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<parent link="base_link"/>
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<child link="fl_caster_rotation_link"/>
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</joint><link name="fl_caster_rotation_link">
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<inertial>
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<mass value="3.473082"/>
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<origin xyz="0 0 0.07"/>
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<inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
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</inertial>
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<visual name="fl_caster_rotation_visual">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry name="fl_caster_rotation_visual_geom">
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<mesh filename="package://pr2_defs/meshes/caster.stl"/>
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</geometry>
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<material name="Green"/>
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</visual>
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<collision name="fl_caster_rotation_collision">
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<origin rpy="0.0 0.0 0.0" xyz="0 0 0.07"/>
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<geometry name="fl_caster_rotation_collision_geom">
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<box size="0.192 0.164 0.013"/>
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</geometry>
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</collision>
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</link><transmission name="fl_caster_rotation_trans" type="SimpleTransmission">
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<actuator name="fl_caster_rotation_motor"/>
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<joint name="fl_caster_rotation_joint"/>
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<mechanicalReduction>-75.05</mechanicalReduction>
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</transmission><joint name="fl_caster_l_wheel_joint" type="continuous">
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<axis xyz="0 1 0"/>
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<limit effort="100" velocity="100"/>
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<safety_controller k_velocity="10"/>
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<dynamics damping="0.0" friction="0.0"/>
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<origin rpy="0 0 0" xyz="0 0.049 0"/>
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<parent link="fl_caster_rotation_link"/>
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<child link="fl_caster_l_wheel_link"/>
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</joint><link name="fl_caster_l_wheel_link">
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<inertial>
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<mass value="0.44036"/> <!-- check jmh 20081205 -->
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<origin xyz=" 0 0 0 "/>
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<inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
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</inertial>
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<visual name="fl_caster_l_wheel_visual">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry name="fl_caster_l_wheel_visual_geom">
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<mesh filename="package://pr2_defs/meshes/pr2_wheel.stl"/>
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</geometry>
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<material name="Caster_l"/>
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</visual>
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<collision name="fl_caster_l_wheel_collision">
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<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
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<geometry name="fl_caster_l_wheel_collision_geom">
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<cylinder length="0.03" radius="0.074792"/>
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</geometry>
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</collision>
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</link><gazebo reference="fl_caster_l_wheel_link">
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<sensor:contact name="fl_caster_l_wheel_contact_sensor">
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<geom>fl_caster_l_wheel_link_geom</geom>
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<updateRate>100.0</updateRate>
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<controller:ros_bumper name="fl_caster_l_wheel_ros_bumper_controller" plugin="libros_bumper.so">
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<alwaysOn>true</alwaysOn>
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<updateRate>100.0</updateRate>
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<bumperTopicName>fl_caster_l_wheel_bumper</bumperTopicName>
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<interface:bumper name="fl_caster_l_wheel_ros_bumper_iface"/>
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</controller:ros_bumper>
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</sensor:contact>
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<material value="PR2/wheel_l"/>
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<mu1 value="100.0"/>
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<mu2 value="100.0"/>
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<kp value="1000000.0"/>
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<kd value="1.0"/>
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</gazebo><transmission name="fl_caster_l_wheel_trans" type="SimpleTransmission">
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<actuator name="fl_caster_l_wheel_motor"/>
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<joint name="fl_caster_l_wheel_joint"/>
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<mechanicalReduction>75.05</mechanicalReduction>
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</transmission><joint name="fl_caster_r_wheel_joint" type="continuous">
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<axis xyz="0 1 0"/>
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<limit effort="100" velocity="100"/>
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<safety_controller k_velocity="10"/>
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<dynamics damping="0.0" friction="0.0"/>
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<origin rpy="0 0 0" xyz="0 -0.049 0"/>
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<parent link="fl_caster_rotation_link"/>
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<child link="fl_caster_r_wheel_link"/>
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</joint><link name="fl_caster_r_wheel_link">
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<inertial>
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<mass value="0.44036"/> <!-- check jmh 20081205 -->
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<origin xyz=" 0 0 0 "/>
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<inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
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</inertial>
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<visual name="fl_caster_r_wheel_visual">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry name="fl_caster_r_wheel_visual_geom">
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<mesh filename="package://pr2_defs/meshes/pr2_wheel.stl"/>
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</geometry>
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<material name="Caster_r"/>
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</visual>
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<collision name="fl_caster_r_wheel_collision">
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<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
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<geometry name="fl_caster_r_wheel_collision_geom">
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<cylinder length="0.03" radius="0.074792"/>
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</geometry>
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</collision>
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</link><gazebo reference="fl_caster_r_wheel_link">
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<sensor:contact name="fl_caster_r_wheel_contact_sensor">
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<geom>fl_caster_r_wheel_link_geom</geom>
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<updateRate>100.0</updateRate>
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<controller:ros_bumper name="fl_caster_r_wheel_ros_bumper_controller" plugin="libros_bumper.so">
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<alwaysOn>true</alwaysOn>
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<updateRate>100.0</updateRate>
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<bumperTopicName>fl_caster_r_wheel_bumper</bumperTopicName>
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<interface:bumper name="fl_caster_r_wheel_ros_bumper_iface"/>
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</controller:ros_bumper>
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</sensor:contact>
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<material value="PR2/wheel_r"/>
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<mu1 value="100.0"/>
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<mu2 value="100.0"/>
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<kp value="1000000.0"/>
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<kd value="1.0"/>
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</gazebo><transmission name="fl_caster_r_wheel_trans" type="SimpleTransmission">
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<actuator name="fl_caster_r_wheel_motor"/>
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<joint name="fl_caster_r_wheel_joint"/>
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<mechanicalReduction>-75.05</mechanicalReduction>
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</transmission><joint name="fr_caster_rotation_joint" type="continuous">
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<axis xyz="0 0 1"/>
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<limit effort="100" velocity="100"/>
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<safety_controller k_velocity="10"/>
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<calibration reference_position="0.0"/>
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<dynamics damping="0.0" friction="0.0"/>
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<origin rpy="0 0 0" xyz="0.2225 -0.2225 0.0282"/>
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<parent link="base_link"/>
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<child link="fr_caster_rotation_link"/>
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</joint><link name="fr_caster_rotation_link">
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<inertial>
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<mass value="3.473082"/>
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<origin xyz="0 0 0.07"/>
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<inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
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</inertial>
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<visual name="fr_caster_rotation_visual">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry name="fr_caster_rotation_visual_geom">
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<mesh filename="package://pr2_defs/meshes/caster.stl"/>
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</geometry>
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<material name="Green"/>
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</visual>
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<collision name="fr_caster_rotation_collision">
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<origin rpy="0.0 0.0 0.0" xyz="0 0 0.07"/>
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<geometry name="fr_caster_rotation_collision_geom">
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<box size="0.192 0.164 0.013"/>
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</geometry>
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</collision>
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</link><transmission name="fr_caster_rotation_trans" type="SimpleTransmission">
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<actuator name="fr_caster_rotation_motor"/>
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<joint name="fr_caster_rotation_joint"/>
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<mechanicalReduction>-75.05</mechanicalReduction>
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</transmission><joint name="fr_caster_l_wheel_joint" type="continuous">
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<axis xyz="0 1 0"/>
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<limit effort="100" velocity="100"/>
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<safety_controller k_velocity="10"/>
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<dynamics damping="0.0" friction="0.0"/>
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<origin rpy="0 0 0" xyz="0 0.049 0"/>
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<parent link="fr_caster_rotation_link"/>
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<child link="fr_caster_l_wheel_link"/>
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</joint><link name="fr_caster_l_wheel_link">
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<inertial>
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<mass value="0.44036"/> <!-- check jmh 20081205 -->
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<origin xyz=" 0 0 0 "/>
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<inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
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</inertial>
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<visual name="fr_caster_l_wheel_visual">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry name="fr_caster_l_wheel_visual_geom">
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<mesh filename="package://pr2_defs/meshes/pr2_wheel.stl"/>
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</geometry>
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<material name="Caster_l"/>
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</visual>
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<collision name="fr_caster_l_wheel_collision">
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<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
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<geometry name="fr_caster_l_wheel_collision_geom">
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<cylinder length="0.03" radius="0.074792"/>
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</geometry>
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</collision>
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</link><gazebo reference="fr_caster_l_wheel_link">
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<sensor:contact name="fr_caster_l_wheel_contact_sensor">
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<geom>fr_caster_l_wheel_link_geom</geom>
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<updateRate>100.0</updateRate>
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<controller:ros_bumper name="fr_caster_l_wheel_ros_bumper_controller" plugin="libros_bumper.so">
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<alwaysOn>true</alwaysOn>
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<updateRate>100.0</updateRate>
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<bumperTopicName>fr_caster_l_wheel_bumper</bumperTopicName>
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<interface:bumper name="fr_caster_l_wheel_ros_bumper_iface"/>
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</controller:ros_bumper>
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</sensor:contact>
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<material value="PR2/wheel_l"/>
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<mu1 value="100.0"/>
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<mu2 value="100.0"/>
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<kp value="1000000.0"/>
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<kd value="1.0"/>
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</gazebo><transmission name="fr_caster_l_wheel_trans" type="SimpleTransmission">
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<actuator name="fr_caster_l_wheel_motor"/>
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<joint name="fr_caster_l_wheel_joint"/>
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<mechanicalReduction>75.05</mechanicalReduction>
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</transmission><joint name="fr_caster_r_wheel_joint" type="continuous">
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<axis xyz="0 1 0"/>
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<limit effort="100" velocity="100"/>
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<safety_controller k_velocity="10"/>
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<dynamics damping="0.0" friction="0.0"/>
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<origin rpy="0 0 0" xyz="0 -0.049 0"/>
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<parent link="fr_caster_rotation_link"/>
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<child link="fr_caster_r_wheel_link"/>
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</joint><link name="fr_caster_r_wheel_link">
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<inertial>
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<mass value="0.44036"/> <!-- check jmh 20081205 -->
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<origin xyz=" 0 0 0 "/>
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<inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
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</inertial>
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<visual name="fr_caster_r_wheel_visual">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry name="fr_caster_r_wheel_visual_geom">
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<mesh filename="package://pr2_defs/meshes/pr2_wheel.stl"/>
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</geometry>
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<material name="Caster_r"/>
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</visual>
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<collision name="fr_caster_r_wheel_collision">
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<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
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<geometry name="fr_caster_r_wheel_collision_geom">
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<cylinder length="0.03" radius="0.074792"/>
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</geometry>
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</collision>
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</link><gazebo reference="fr_caster_r_wheel_link">
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<sensor:contact name="fr_caster_r_wheel_contact_sensor">
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<geom>fr_caster_r_wheel_link_geom</geom>
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<updateRate>100.0</updateRate>
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<controller:ros_bumper name="fr_caster_r_wheel_ros_bumper_controller" plugin="libros_bumper.so">
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|
<alwaysOn>true</alwaysOn>
|
|
<updateRate>100.0</updateRate>
|
|
<bumperTopicName>fr_caster_r_wheel_bumper</bumperTopicName>
|
|
<interface:bumper name="fr_caster_r_wheel_ros_bumper_iface"/>
|
|
</controller:ros_bumper>
|
|
</sensor:contact>
|
|
<material value="PR2/wheel_r"/>
|
|
<mu1 value="100.0"/>
|
|
<mu2 value="100.0"/>
|
|
<kp value="1000000.0"/>
|
|
<kd value="1.0"/>
|
|
</gazebo><transmission name="fr_caster_r_wheel_trans" type="SimpleTransmission">
|
|
<actuator name="fr_caster_r_wheel_motor"/>
|
|
<joint name="fr_caster_r_wheel_joint"/>
|
|
<mechanicalReduction>-75.05</mechanicalReduction>
|
|
</transmission><joint name="bl_caster_rotation_joint" type="continuous">
|
|
<axis xyz="0 0 1"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<safety_controller k_velocity="10"/>
|
|
<calibration reference_position="0.0"/>
|
|
<dynamics damping="0.0" friction="0.0"/>
|
|
<origin rpy="0 0 0" xyz="-0.2225 0.2225 0.0282"/>
|
|
<parent link="base_link"/>
|
|
<child link="bl_caster_rotation_link"/>
|
|
</joint><link name="bl_caster_rotation_link">
|
|
|
|
<inertial>
|
|
<mass value="3.473082"/>
|
|
<origin xyz="0 0 0.07"/>
|
|
<inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
|
|
</inertial>
|
|
|
|
<visual name="bl_caster_rotation_visual">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="bl_caster_rotation_visual_geom">
|
|
<mesh filename="package://pr2_defs/meshes/caster.stl"/>
|
|
</geometry>
|
|
|
|
<material name="Green"/>
|
|
</visual>
|
|
|
|
<collision name="bl_caster_rotation_collision">
|
|
<origin rpy="0.0 0.0 0.0" xyz="0 0 0.07"/>
|
|
<geometry name="bl_caster_rotation_collision_geom">
|
|
<box size="0.192 0.164 0.013"/>
|
|
</geometry>
|
|
</collision>
|
|
</link><transmission name="bl_caster_rotation_trans" type="SimpleTransmission">
|
|
<actuator name="bl_caster_rotation_motor"/>
|
|
<joint name="bl_caster_rotation_joint"/>
|
|
<mechanicalReduction>-75.05</mechanicalReduction>
|
|
</transmission><joint name="bl_caster_l_wheel_joint" type="continuous">
|
|
<axis xyz="0 1 0"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<safety_controller k_velocity="10"/>
|
|
<dynamics damping="0.0" friction="0.0"/>
|
|
<origin rpy="0 0 0" xyz="0 0.049 0"/>
|
|
<parent link="bl_caster_rotation_link"/>
|
|
<child link="bl_caster_l_wheel_link"/>
|
|
</joint><link name="bl_caster_l_wheel_link">
|
|
<inertial>
|
|
<mass value="0.44036"/> <!-- check jmh 20081205 -->
|
|
<origin xyz=" 0 0 0 "/>
|
|
<inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
|
|
</inertial>
|
|
<visual name="bl_caster_l_wheel_visual">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="bl_caster_l_wheel_visual_geom">
|
|
<mesh filename="package://pr2_defs/meshes/pr2_wheel.stl"/>
|
|
</geometry>
|
|
|
|
<material name="Caster_l"/>
|
|
</visual>
|
|
<collision name="bl_caster_l_wheel_collision">
|
|
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
|
<geometry name="bl_caster_l_wheel_collision_geom">
|
|
<cylinder length="0.03" radius="0.074792"/>
|
|
</geometry>
|
|
</collision>
|
|
</link><gazebo reference="bl_caster_l_wheel_link">
|
|
<sensor:contact name="bl_caster_l_wheel_contact_sensor">
|
|
<geom>bl_caster_l_wheel_link_geom</geom>
|
|
<updateRate>100.0</updateRate>
|
|
<controller:ros_bumper name="bl_caster_l_wheel_ros_bumper_controller" plugin="libros_bumper.so">
|
|
<alwaysOn>true</alwaysOn>
|
|
<updateRate>100.0</updateRate>
|
|
<bumperTopicName>bl_caster_l_wheel_bumper</bumperTopicName>
|
|
<interface:bumper name="bl_caster_l_wheel_ros_bumper_iface"/>
|
|
</controller:ros_bumper>
|
|
</sensor:contact>
|
|
<material value="PR2/wheel_l"/>
|
|
<mu1 value="100.0"/>
|
|
<mu2 value="100.0"/>
|
|
<kp value="1000000.0"/>
|
|
<kd value="1.0"/>
|
|
</gazebo><transmission name="bl_caster_l_wheel_trans" type="SimpleTransmission">
|
|
<actuator name="bl_caster_l_wheel_motor"/>
|
|
<joint name="bl_caster_l_wheel_joint"/>
|
|
<mechanicalReduction>75.05</mechanicalReduction>
|
|
</transmission><joint name="bl_caster_r_wheel_joint" type="continuous">
|
|
<axis xyz="0 1 0"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<safety_controller k_velocity="10"/>
|
|
<dynamics damping="0.0" friction="0.0"/>
|
|
<origin rpy="0 0 0" xyz="0 -0.049 0"/>
|
|
<parent link="bl_caster_rotation_link"/>
|
|
<child link="bl_caster_r_wheel_link"/>
|
|
</joint><link name="bl_caster_r_wheel_link">
|
|
<inertial>
|
|
<mass value="0.44036"/> <!-- check jmh 20081205 -->
|
|
<origin xyz=" 0 0 0 "/>
|
|
<inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
|
|
</inertial>
|
|
<visual name="bl_caster_r_wheel_visual">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="bl_caster_r_wheel_visual_geom">
|
|
<mesh filename="package://pr2_defs/meshes/pr2_wheel.stl"/>
|
|
</geometry>
|
|
|
|
<material name="Caster_r"/>
|
|
</visual>
|
|
<collision name="bl_caster_r_wheel_collision">
|
|
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
|
<geometry name="bl_caster_r_wheel_collision_geom">
|
|
<cylinder length="0.03" radius="0.074792"/>
|
|
</geometry>
|
|
</collision>
|
|
</link><gazebo reference="bl_caster_r_wheel_link">
|
|
<sensor:contact name="bl_caster_r_wheel_contact_sensor">
|
|
<geom>bl_caster_r_wheel_link_geom</geom>
|
|
<updateRate>100.0</updateRate>
|
|
<controller:ros_bumper name="bl_caster_r_wheel_ros_bumper_controller" plugin="libros_bumper.so">
|
|
<alwaysOn>true</alwaysOn>
|
|
<updateRate>100.0</updateRate>
|
|
<bumperTopicName>bl_caster_r_wheel_bumper</bumperTopicName>
|
|
<interface:bumper name="bl_caster_r_wheel_ros_bumper_iface"/>
|
|
</controller:ros_bumper>
|
|
</sensor:contact>
|
|
<material value="PR2/wheel_r"/>
|
|
<mu1 value="100.0"/>
|
|
<mu2 value="100.0"/>
|
|
<kp value="1000000.0"/>
|
|
<kd value="1.0"/>
|
|
</gazebo><transmission name="bl_caster_r_wheel_trans" type="SimpleTransmission">
|
|
<actuator name="bl_caster_r_wheel_motor"/>
|
|
<joint name="bl_caster_r_wheel_joint"/>
|
|
<mechanicalReduction>-75.05</mechanicalReduction>
|
|
</transmission><joint name="br_caster_rotation_joint" type="continuous">
|
|
<axis xyz="0 0 1"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<safety_controller k_velocity="10"/>
|
|
<calibration reference_position="0.0"/>
|
|
<dynamics damping="0.0" friction="0.0"/>
|
|
<origin rpy="0 0 0" xyz="-0.2225 -0.2225 0.0282"/>
|
|
<parent link="base_link"/>
|
|
<child link="br_caster_rotation_link"/>
|
|
</joint><link name="br_caster_rotation_link">
|
|
|
|
<inertial>
|
|
<mass value="3.473082"/>
|
|
<origin xyz="0 0 0.07"/>
|
|
<inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
|
|
</inertial>
|
|
|
|
<visual name="br_caster_rotation_visual">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="br_caster_rotation_visual_geom">
|
|
<mesh filename="package://pr2_defs/meshes/caster.stl"/>
|
|
</geometry>
|
|
|
|
<material name="Green"/>
|
|
</visual>
|
|
|
|
<collision name="br_caster_rotation_collision">
|
|
<origin rpy="0.0 0.0 0.0" xyz="0 0 0.07"/>
|
|
<geometry name="br_caster_rotation_collision_geom">
|
|
<box size="0.192 0.164 0.013"/>
|
|
</geometry>
|
|
</collision>
|
|
</link><transmission name="br_caster_rotation_trans" type="SimpleTransmission">
|
|
<actuator name="br_caster_rotation_motor"/>
|
|
<joint name="br_caster_rotation_joint"/>
|
|
<mechanicalReduction>-75.05</mechanicalReduction>
|
|
</transmission><joint name="br_caster_l_wheel_joint" type="continuous">
|
|
<axis xyz="0 1 0"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<safety_controller k_velocity="10"/>
|
|
<dynamics damping="0.0" friction="0.0"/>
|
|
<origin rpy="0 0 0" xyz="0 0.049 0"/>
|
|
<parent link="br_caster_rotation_link"/>
|
|
<child link="br_caster_l_wheel_link"/>
|
|
</joint><link name="br_caster_l_wheel_link">
|
|
<inertial>
|
|
<mass value="0.44036"/> <!-- check jmh 20081205 -->
|
|
<origin xyz=" 0 0 0 "/>
|
|
<inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
|
|
</inertial>
|
|
<visual name="br_caster_l_wheel_visual">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="br_caster_l_wheel_visual_geom">
|
|
<mesh filename="package://pr2_defs/meshes/pr2_wheel.stl"/>
|
|
</geometry>
|
|
|
|
<material name="Caster_l"/>
|
|
</visual>
|
|
<collision name="br_caster_l_wheel_collision">
|
|
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
|
<geometry name="br_caster_l_wheel_collision_geom">
|
|
<cylinder length="0.03" radius="0.074792"/>
|
|
</geometry>
|
|
</collision>
|
|
</link><gazebo reference="br_caster_l_wheel_link">
|
|
<sensor:contact name="br_caster_l_wheel_contact_sensor">
|
|
<geom>br_caster_l_wheel_link_geom</geom>
|
|
<updateRate>100.0</updateRate>
|
|
<controller:ros_bumper name="br_caster_l_wheel_ros_bumper_controller" plugin="libros_bumper.so">
|
|
<alwaysOn>true</alwaysOn>
|
|
<updateRate>100.0</updateRate>
|
|
<bumperTopicName>br_caster_l_wheel_bumper</bumperTopicName>
|
|
<interface:bumper name="br_caster_l_wheel_ros_bumper_iface"/>
|
|
</controller:ros_bumper>
|
|
</sensor:contact>
|
|
<material value="PR2/wheel_l"/>
|
|
<mu1 value="100.0"/>
|
|
<mu2 value="100.0"/>
|
|
<kp value="1000000.0"/>
|
|
<kd value="1.0"/>
|
|
</gazebo><transmission name="br_caster_l_wheel_trans" type="SimpleTransmission">
|
|
<actuator name="br_caster_l_wheel_motor"/>
|
|
<joint name="br_caster_l_wheel_joint"/>
|
|
<mechanicalReduction>75.05</mechanicalReduction>
|
|
</transmission><joint name="br_caster_r_wheel_joint" type="continuous">
|
|
<axis xyz="0 1 0"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<safety_controller k_velocity="10"/>
|
|
<dynamics damping="0.0" friction="0.0"/>
|
|
<origin rpy="0 0 0" xyz="0 -0.049 0"/>
|
|
<parent link="br_caster_rotation_link"/>
|
|
<child link="br_caster_r_wheel_link"/>
|
|
</joint><link name="br_caster_r_wheel_link">
|
|
<inertial>
|
|
<mass value="0.44036"/> <!-- check jmh 20081205 -->
|
|
<origin xyz=" 0 0 0 "/>
|
|
<inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
|
|
</inertial>
|
|
<visual name="br_caster_r_wheel_visual">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="br_caster_r_wheel_visual_geom">
|
|
<mesh filename="package://pr2_defs/meshes/pr2_wheel.stl"/>
|
|
</geometry>
|
|
|
|
<material name="Caster_r"/>
|
|
</visual>
|
|
<collision name="br_caster_r_wheel_collision">
|
|
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
|
<geometry name="br_caster_r_wheel_collision_geom">
|
|
<cylinder length="0.03" radius="0.074792"/>
|
|
</geometry>
|
|
</collision>
|
|
</link><gazebo reference="br_caster_r_wheel_link">
|
|
<sensor:contact name="br_caster_r_wheel_contact_sensor">
|
|
<geom>br_caster_r_wheel_link_geom</geom>
|
|
<updateRate>100.0</updateRate>
|
|
<controller:ros_bumper name="br_caster_r_wheel_ros_bumper_controller" plugin="libros_bumper.so">
|
|
<alwaysOn>true</alwaysOn>
|
|
<updateRate>100.0</updateRate>
|
|
<bumperTopicName>br_caster_r_wheel_bumper</bumperTopicName>
|
|
<interface:bumper name="br_caster_r_wheel_ros_bumper_iface"/>
|
|
</controller:ros_bumper>
|
|
</sensor:contact>
|
|
<material value="PR2/wheel_r"/>
|
|
<mu1 value="100.0"/>
|
|
<mu2 value="100.0"/>
|
|
<kp value="1000000.0"/>
|
|
<kd value="1.0"/>
|
|
</gazebo><transmission name="br_caster_r_wheel_trans" type="SimpleTransmission">
|
|
<actuator name="br_caster_r_wheel_motor"/>
|
|
<joint name="br_caster_r_wheel_joint"/>
|
|
<mechanicalReduction>-75.05</mechanicalReduction>
|
|
</transmission><gazebo reference="base_link">
|
|
<sensor:contact name="base_contact_sensor">
|
|
<geom>base_link_geom</geom>
|
|
<updateRate>100.0</updateRate>
|
|
<controller:ros_bumper name="base_ros_bumper_controller" plugin="libros_bumper.so">
|
|
<alwaysOn>true</alwaysOn>
|
|
<updateRate>100.0</updateRate>
|
|
<bumperTopicName>base_bumper</bumperTopicName>
|
|
<interface:bumper name="base_bumper_iface"/>
|
|
</controller:ros_bumper>
|
|
</sensor:contact>
|
|
<mu1 value="500.0"/>
|
|
<mu2 value="500.0"/>
|
|
<kp value="100000000.0"/>
|
|
<kd value="1.0"/>
|
|
<material value="PR2/Green"/>
|
|
</gazebo><gazebo>
|
|
<controller:ros_p3d name="p3d_base_controller" plugin="libros_p3d.so">
|
|
<alwaysOn>true</alwaysOn>
|
|
<updateRate>100.0</updateRate>
|
|
<bodyName>base_link</bodyName>
|
|
<topicName>base_pose_ground_truth</topicName>
|
|
<gaussianNoise>0.01</gaussianNoise>
|
|
<frameName>map</frameName>
|
|
<xyzOffsets>25.7 25.7 0</xyzOffsets> <!-- initialize odometry for fake localization-->
|
|
<rpyOffsets>0 0 0</rpyOffsets>
|
|
<interface:position name="p3d_base_position"/>
|
|
</controller:ros_p3d>
|
|
<controller:ros_p3d name="p3d_plug_magnet_controller" plugin="libros_p3d.so">
|
|
<alwaysOn>true</alwaysOn>
|
|
<updateRate>100.0</updateRate>
|
|
<bodyName>plug_magnet</bodyName>
|
|
<topicName>plug_magnet_pose_ground_truth</topicName>
|
|
<gaussianNoise>0.01</gaussianNoise>
|
|
<frameName>map</frameName>
|
|
<xyzOffsets>0 0 0</xyzOffsets> <!-- initialize odometry for fake localization-->
|
|
<rpyOffsets>0 0 0</rpyOffsets>
|
|
<interface:position name="p3d_plug_magnet_position"/>
|
|
</controller:ros_p3d>
|
|
</gazebo><gazebo reference="base_laser">
|
|
<sensor:ray name="base_laser">
|
|
<rayCount>640</rayCount>
|
|
<rangeCount>640</rangeCount>
|
|
<laserCount>1</laserCount>
|
|
<origin>0.0 0.0 0.0</origin>
|
|
<displayRays>false</displayRays>
|
|
|
|
<minAngle>-100</minAngle> <!-- scans own arms if -135~+135 -->
|
|
<maxAngle>100</maxAngle>
|
|
|
|
<minRange>0.05</minRange>
|
|
<maxRange>10.0</maxRange>
|
|
<resRange>0.01</resRange>
|
|
<updateRate>20.0</updateRate>
|
|
<controller:ros_laser name="ros_base_laser_controller" plugin="libros_laser.so">
|
|
<gaussianNoise>0.005</gaussianNoise>
|
|
<alwaysOn>true</alwaysOn>
|
|
<updateRate>20.0</updateRate>
|
|
<topicName>base_scan</topicName>
|
|
<frameName>base_laser</frameName>
|
|
<interface:laser name="ros_base_laser_iface"/>
|
|
</controller:ros_laser>
|
|
</sensor:ray>
|
|
<material value="PR2/Red"/>
|
|
</gazebo><gazebo reference="plug_magnet">
|
|
<material value="PR2/Red"/>
|
|
</gazebo>
|
|
|
|
<joint name="torso_lift_joint" type="prismatic">
|
|
<axis xyz="0 0 1"/>
|
|
<!-- KWatts: Max should be 0.31, changed to 0.20 to prevent jamming -->
|
|
<!-- HW ticket 481, will examine spine to determine failures -->
|
|
<limit effort="10000" lower="0.0" upper="0.20" velocity="0.015"/>
|
|
<safety_controller k_position="1000" k_velocity="400000" soft_lower_limit="0.005" soft_upper_limit="0.195"/>
|
|
<calibration reference_position="0.00536"/>
|
|
<dynamics damping="10.0"/>
|
|
<origin rpy="0 0 0" xyz="-0.05 0 0.739675"/>
|
|
<parent link="base_link"/>
|
|
<child link="torso_lift_link"/>
|
|
</joint><link name="torso_lift_link">
|
|
|
|
<inertial>
|
|
<mass value="36.248046"/>
|
|
<origin xyz="-0.1 0 -0.0885"/>
|
|
<inertia ixx="2.771653750257" ixy="0.004284522609" ixz="-0.160418504506" iyy="2.510019507959" iyz="0.029664468704" izz="0.526432355569"/>
|
|
</inertial>
|
|
|
|
<visual name="torso_lift_visual">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="torso_lift_visual_geom">
|
|
<mesh filename="package://pr2_defs/meshes/torso.stl"/>
|
|
</geometry>
|
|
|
|
<material name="Grey2"/>
|
|
</visual>
|
|
|
|
<collision name="torso_lift_collision">
|
|
<origin rpy="0 0 0" xyz="-0.1 0 -0.0885"/>
|
|
<geometry name="torso_lift_collision_geom">
|
|
<box size="0.30 0.620 0.823"/>
|
|
</geometry>
|
|
</collision>
|
|
</link><pr2_torso_gazebo name="torso_lift"/><transmission name="torso_lift_trans" type="SimpleTransmission">
|
|
<actuator name="torso_lift_motor"/>
|
|
<joint name="torso_lift_joint"/>
|
|
<mechanicalReduction>-52143.33</mechanicalReduction>
|
|
</transmission>
|
|
|
|
<joint name="head_pan_joint" type="revolute">
|
|
<axis xyz="0 0 1"/>
|
|
<limit effort="2.645" lower="-2.92" upper="2.92" velocity="6"/>
|
|
<safety_controller k_position="100" k_velocity="1.5" soft_lower_limit="-2.77" soft_upper_limit="2.77"/>
|
|
<calibration reference_position="-2.79"/>
|
|
<dynamics damping="1.0"/>
|
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.3915"/>
|
|
<parent link="torso_lift_link"/>
|
|
<child link="head_pan_link"/>
|
|
</joint><link name="head_pan_link">
|
|
|
|
|
|
<inertial>
|
|
<mass value="1.611118"/>
|
|
<origin rpy="0 0 0" xyz="-0.005717 0.010312 -0.029649"/>
|
|
<inertia ixx="0.00482611007" ixy="-0.000144683999" ixz="0.000110076136" iyy="0.005218991412" iyz="-0.000314239509" izz="0.008618784925"/>
|
|
</inertial>
|
|
|
|
<visual name="head_pan_visual">
|
|
<origin rpy="0 0 0 " xyz="0 0 0.0"/>
|
|
<geometry name="head_pan_visual_geom">
|
|
<mesh filename="package://pr2_defs/meshes/head_pan.stl"/>
|
|
</geometry>
|
|
|
|
<material name="Blue"/>
|
|
</visual>
|
|
|
|
<collision name="head_pan_collision">
|
|
<origin rpy="0.0 0.0 0.0 " xyz="-0.005717 0.010312 -0.029649"/>
|
|
<geometry name="head_pan_collision_geom">
|
|
<box size="0.188 0.219 0.137"/>
|
|
</geometry>
|
|
</collision>
|
|
|
|
</link><gazebo reference="head_pan_link">
|
|
<material value="PR2/Blue"/>
|
|
</gazebo><transmission name="head_pan_trans" type="SimpleTransmission">
|
|
<actuator name="head_pan_motor"/>
|
|
<joint name="head_pan_joint"/>
|
|
<mechanicalReduction>6.0</mechanicalReduction>
|
|
</transmission><joint name="head_tilt_joint" type="revolute">
|
|
<axis xyz="0 1 0"/>
|
|
<limit effort="12.21" lower="-0.55" upper="1.047" velocity="100"/>
|
|
<safety_controller k_position="100" k_velocity="1.5" soft_lower_limit="-0.53" soft_upper_limit="1.045"/>
|
|
<calibration reference_position="-0.195"/>
|
|
<dynamics damping="1.0"/>
|
|
<origin rpy="0 0 0" xyz="0.058 0 0"/>
|
|
<parent link="head_pan_link"/>
|
|
<child link="head_tilt_link"/>
|
|
</joint><link name="head_tilt_link">
|
|
|
|
|
|
<inertial>
|
|
<mass value="1.749727"/>
|
|
<origin rpy="0 0 0" xyz="0.041935 0.003569 0.028143"/>
|
|
<inertia ixx="0.010602303435" ixy="-0.000408814235" ixz="0.00198303894" iyy="0.011874383747" iyz="0.000197908779" izz="0.005516790626"/>
|
|
</inertial>
|
|
|
|
<visual name="head_tilt_visual">
|
|
<origin rpy="0.0 0.0 0.0 " xyz="0 0 0"/>
|
|
<geometry name="head_tilt_visual_geom">
|
|
<mesh filename="package://pr2_defs/meshes/head_tilt.stl"/>
|
|
</geometry>
|
|
|
|
<material name="Green"/>
|
|
</visual>
|
|
|
|
<collision name="head_tilt_collision">
|
|
<origin rpy="0 0 0" xyz="0.041935 0.003569 0.028143"/>
|
|
<geometry name="head_tilt_collision_geom">
|
|
<box size="0.064 0.253 0.181"/>
|
|
</geometry>
|
|
</collision>
|
|
</link><gazebo reference="head_tilt_link">
|
|
<material value="PR2/Green"/>
|
|
</gazebo><transmission name="head_tilt_trans" type="SimpleTransmission">
|
|
<actuator name="head_tilt_motor"/>
|
|
<joint name="head_tilt_joint"/>
|
|
<mechanicalReduction>6.0</mechanicalReduction>
|
|
</transmission><joint name="head_plate_frame_joint" type="fixed">
|
|
<origin rpy="0 0 0" xyz="0.0232 0 0.0645"/>
|
|
<parent link="head_tilt_link"/>
|
|
<child link="head_plate_frame"/>
|
|
</joint><link name="head_plate_frame">
|
|
|
|
<inertial>
|
|
<mass value="0.01"/>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
|
|
</inertial>
|
|
|
|
<visual name="head_plate_frame_visual">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="head_plate_frame_visual_geom">
|
|
<box size="0.01 0.01 0.01"/>
|
|
</geometry>
|
|
|
|
<material name="Blue"/>
|
|
</visual>
|
|
|
|
<collision name="head_plate_frame_collision">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="head_plate_frame_collision_geom">
|
|
<box size="0.01 0.01 0.01"/>
|
|
</geometry>
|
|
</collision>
|
|
</link><gazebo reference="head_plate_frame">
|
|
<material value="PR2/Blue"/>
|
|
</gazebo>
|
|
|
|
<!-- Camera package: double stereo, prosilica -->
|
|
<joint name="sensor_mount_frame_joint" type="fixed">
|
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
|
<parent link="head_plate_frame"/>
|
|
<child link="sensor_mount_link"/>
|
|
</joint><link name="sensor_mount_link">
|
|
|
|
<inertial>
|
|
<!-- Needs verification with CAD -->
|
|
<mass value="0.05"/>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.01"/>
|
|
</inertial>
|
|
|
|
<!-- Should probably get real visuals here at some point -->
|
|
<visual name="sensor_mount_sensor_visual">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="sensor_mount_sensor_visual_geom">
|
|
<box size="0.01 0.01 0.01"/>
|
|
</geometry>
|
|
|
|
<material name="Blue"/>
|
|
</visual>
|
|
|
|
<collision name="sensor_mount_sensor_collision">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="sensor_mount_sensor_collision_geom">
|
|
<box size="0.01 0.01 0.01"/>
|
|
</geometry>
|
|
</collision>
|
|
</link><joint name="high_def_frame_joint" type="fixed">
|
|
<origin rpy="0 0 0" xyz="0 -0.109 0.035"/>
|
|
<parent link="sensor_mount_link"/>
|
|
<child link="high_def_frame"/>
|
|
</joint><link name="high_def_frame">
|
|
|
|
<inertial>
|
|
<mass value="0.01"/>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
|
|
</inertial>
|
|
|
|
<visual name="high_def_visual">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="high_def_visual_geom">
|
|
<box size="0.01 0.01 0.01"/>
|
|
</geometry>
|
|
|
|
<material name="Blue"/>
|
|
</visual>
|
|
|
|
<collision name="high_def_collision">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="high_def_collision_geom">
|
|
<box size="0.01 0.01 0.01"/>
|
|
</geometry>
|
|
</collision>
|
|
|
|
|
|
</link><joint name="high_def_optical_frame_joint" type="fixed">
|
|
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
|
|
<parent link="high_def_frame"/>
|
|
<child link="high_def_optical_frame"/>
|
|
</joint><link name="high_def_optical_frame">
|
|
|
|
<inertial>
|
|
<mass value="0.01"/>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
|
|
</inertial>
|
|
|
|
<visual name="high_def_optical_visual">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="high_def_optical_visual_geom">
|
|
<box size="0.01 0.01 0.01"/>
|
|
</geometry>
|
|
|
|
<material name="Blue"/>
|
|
</visual>
|
|
|
|
<collision name="high_def_optical_collision">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="high_def_optical_collision_geom">
|
|
<box size="0.01 0.01 0.01"/>
|
|
</geometry>
|
|
</collision>
|
|
</link><gazebo reference="high_def_frame">
|
|
<sensor:camera name="high_def_sensor">
|
|
<imageFormat>B8G8R8</imageFormat>
|
|
<imageSize>2448 2050</imageSize>
|
|
<hfov>45</hfov>
|
|
<nearClip>0.1</nearClip>
|
|
<farClip>100</farClip>
|
|
<updateRate>20.0</updateRate>
|
|
<controller:ros_prosilica name="high_def_controller" plugin="libros_prosilica.so">
|
|
<alwaysOn>true</alwaysOn>
|
|
<updateRate>20.0</updateRate>
|
|
<camInfoTopicName>/prosilica/cam_info</camInfoTopicName>
|
|
<imageTopicName>/prosilica/image</imageTopicName>
|
|
<imageRectTopicName>/prosilica/image_rect</imageRectTopicName>
|
|
<camInfoServiceName>/prosilica/cam_info_service</camInfoServiceName>
|
|
<pollServiceName>/prosilica/poll</pollServiceName>
|
|
<frameName>hight_def_optical_frame</frameName>
|
|
<CxPrime>1224.5</CxPrime>
|
|
<Cx>1224.5</Cx>
|
|
<Cy>1025.5</Cy>
|
|
<focal_length>2955</focal_length> <!-- image_width / (2*tan(hfov_radian /2)) -->
|
|
<distortion_k1>0</distortion_k1>
|
|
<distortion_k2>0</distortion_k2>
|
|
<distortion_k3>0</distortion_k3>
|
|
<distortion_t1>0</distortion_t1>
|
|
<distortion_t2>0</distortion_t2>
|
|
<interface:camera name="high_def_iface"/>
|
|
</controller:ros_prosilica>
|
|
</sensor:camera>
|
|
<material value="PR2/Blue"/>
|
|
</gazebo><gazebo reference="high_def_optical_frame">
|
|
<material value="PR2/Blue"/>
|
|
</gazebo><joint name="double_stereo_frame_joint" type="fixed">
|
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.003"/>
|
|
<parent link="sensor_mount_link"/>
|
|
<child link="double_stereo_link"/>
|
|
</joint><link name="double_stereo_link">
|
|
|
|
<inertial>
|
|
<!-- Needs verification with CAD -->
|
|
<mass value="0.1"/>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.01"/>
|
|
</inertial>
|
|
|
|
<!-- Should probably get real visuals here at some point -->
|
|
<visual name="double_stereo_double_stereo_visual">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="double_stereo_double_stereo_visual_geom">
|
|
<box size="0.01 0.01 0.01"/>
|
|
</geometry>
|
|
|
|
<material name="Blue"/>
|
|
</visual>
|
|
|
|
<collision name="double_stereo_double_stereo_collision">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="double_stereo_double_stereo_collision_geom">
|
|
<box size="0.01 0.01 0.01"/>
|
|
</geometry>
|
|
</collision>
|
|
</link><joint name="wide_stereo_frame_joint" type="fixed">
|
|
<origin rpy="0 0 0" xyz="0 -0.015 0"/>
|
|
<parent link="double_stereo_link"/>
|
|
<child link="wide_stereo_link"/>
|
|
</joint><link name="wide_stereo_link">
|
|
|
|
<inertial>
|
|
<mass value="0.1"/>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<inertia ixx="0.00482611007" ixy="-0.000144683999" ixz="0.000110076136" iyy="0.005218991412" iyz="-0.000314239509" izz="0.008618784925"/>
|
|
</inertial>
|
|
|
|
<visual name="wide_stereo_visual">
|
|
<origin rpy="0 0 0" xyz="0.0 0 0.05"/>
|
|
<geometry name="wide_stereo_visual_geom">
|
|
<box size="0.005 0.01 0.005"/>
|
|
</geometry>
|
|
|
|
<material name="Blue"/>
|
|
</visual>
|
|
|
|
<collision name="wide_stereo_collision">
|
|
<origin rpy="0 0 0" xyz="0.0 0 0.05"/>
|
|
<geometry name="wide_stereo_collision_geom">
|
|
<box size="0.005 0.01 0.005"/>
|
|
</geometry>
|
|
</collision>
|
|
|
|
</link><joint name="wide_stereo_optical_frame_joint" type="fixed">
|
|
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.045 0.0305"/>
|
|
<parent link="wide_stereo_link"/>
|
|
<child link="wide_stereo_optical_frame"/>
|
|
</joint><link name="wide_stereo_optical_frame" type="camera">
|
|
|
|
<inertial>
|
|
<mass value="0.01"/>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
|
|
</inertial>
|
|
|
|
<visual name="wide_stereo_optical_frame_visual">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="wide_stereo_optical_frame_visual_geom">
|
|
<box size="0.01 0.01 0.01"/>
|
|
</geometry>
|
|
|
|
<material name="Blue"/>
|
|
</visual>
|
|
|
|
<collision name="wide_stereo_optical_frame_collision">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="wide_stereo_optical_frame_collision_geom">
|
|
<box size="0.01 0.01 0.01"/>
|
|
</geometry>
|
|
</collision>
|
|
|
|
</link><joint name="wide_stereo_l_stereo_camera_frame_joint" type="fixed">
|
|
<origin rpy="0 -1.57079632679 1.57079632679" xyz="0 0 0"/>
|
|
<parent link="wide_stereo_optical_frame"/>
|
|
<child link="wide_stereo_l_stereo_camera_frame"/>
|
|
</joint><link name="wide_stereo_l_stereo_camera_frame">
|
|
|
|
<inertial>
|
|
<mass value="0.01"/>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<inertia ixx="0.001" ixy="0.000" ixz="0.000" iyy="0.001" iyz="0.000" izz="0.001"/>
|
|
</inertial>
|
|
|
|
<visual name="wide_stereo_l_stereo_camera_visual">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="wide_stereo_l_stereo_camera_visual_geom">
|
|
<box size="0.01 0.01 0.01"/>
|
|
</geometry>
|
|
|
|
<material name="Blue"/>
|
|
</visual>
|
|
|
|
<collision name="wide_stereo_l_stereo_camera_collision">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="wide_stereo_l_stereo_camera_collision_geom">
|
|
<box size="0.01 0.01 0.01"/>
|
|
</geometry>
|
|
</collision>
|
|
|
|
</link><joint name="wide_stereo_r_stereo_camera_frame_joint" type="fixed">
|
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 -0.09 0.0"/>
|
|
<parent link="wide_stereo_l_stereo_camera_frame"/>
|
|
<child link="wide_stereo_r_stereo_camera_frame"/>
|
|
</joint><link name="wide_stereo_r_stereo_camera_frame">
|
|
|
|
<inertial>
|
|
<mass value="0.01"/>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<inertia ixx="0.001" ixy="0.000" ixz="0.000" iyy="0.001" iyz="0.000" izz="0.001"/>
|
|
</inertial>
|
|
|
|
<visual name="wide_stereo_r_stereo_camera_visual">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="wide_stereo_r_stereo_camera_visual_geom">
|
|
<box size="0.01 0.01 0.01"/>
|
|
</geometry>
|
|
|
|
<material name="Blue"/>
|
|
</visual>
|
|
|
|
<collision name="wide_stereo_r_stereo_camera_collision">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="wide_stereo_r_stereo_camera_collision_geom">
|
|
<box size="0.01 0.01 0.01"/>
|
|
</geometry>
|
|
</collision>
|
|
|
|
</link><gazebo reference="wide_stereo_link">
|
|
<material value="PR2/Blue"/>
|
|
</gazebo><gazebo reference="wide_stereo_optical_frame">
|
|
<material value="PR2/Blue"/>
|
|
</gazebo><gazebo reference="wide_stereo_l_stereo_camera_frame">
|
|
<sensor:camera name="wide_stereo_l_sensor">
|
|
<imageSize>640 480</imageSize>
|
|
<imageFormat>L8</imageFormat>
|
|
<hfov>90</hfov>
|
|
<nearClip>0.1</nearClip>
|
|
<farClip>100</farClip>
|
|
<updateRate>20.0</updateRate>
|
|
<controller:ros_camera name="wide_stereo_l_controller" plugin="libros_camera.so">
|
|
<alwaysOn>true</alwaysOn>
|
|
<updateRate>20.0</updateRate>
|
|
<topicName>wide_stereo/left_image</topicName>
|
|
<frameName>wide_stereo_l_stereo_camera_frame</frameName>
|
|
<interface:camera name="wide_stereo_l_iface"/>
|
|
</controller:ros_camera>
|
|
</sensor:camera>
|
|
<material value="PR2/Blue"/>
|
|
</gazebo><gazebo reference="wide_stereo_r_stereo_camera_frame">
|
|
<sensor:camera name="wide_stereo_r_sensor">
|
|
<imageSize>640 480</imageSize>
|
|
<imageFormat>L8</imageFormat>
|
|
<hfov>90</hfov>
|
|
<nearClip>0.1</nearClip>
|
|
<farClip>100</farClip>
|
|
<updateRate>20.0</updateRate>
|
|
<controller:ros_camera name="wide_stereo_r_controller" plugin="libros_camera.so">
|
|
<alwaysOn>true</alwaysOn>
|
|
<updateRate>20.0</updateRate>
|
|
<topicName>wide_stereo/right_image</topicName>
|
|
<frameName>wide_stereo_r_stereo_camera_frame</frameName>
|
|
<interface:camera name="wide_stereo_r_iface"/>
|
|
</controller:ros_camera>
|
|
</sensor:camera>
|
|
<material value="PR2/Blue"/>
|
|
</gazebo><gazebo> <!-- this is not attached to any link!!!, there no reference -->
|
|
<controller:ros_stereo_camera name="wide_stereo_controller" plugin="libros_stereo_camera.so">
|
|
<alwaysOn>true</alwaysOn>
|
|
<updateRate>20.0</updateRate>
|
|
<leftCamera>wide_stereo_l_sensor</leftCamera>
|
|
<rightCamera>wide_stereo_r_sensor</rightCamera>
|
|
<topicName>wide_stereo/raw_stereo</topicName>
|
|
<frameName>wide_stereo_optical_frame</frameName>
|
|
<CxPrime>320</CxPrime>
|
|
<Cx>320</Cx>
|
|
<Cy>240</Cy>
|
|
<focal_length>320</focal_length> <!-- image_width / (2*tan(hfov_radian /2)) -->
|
|
<distortion_k1>0</distortion_k1>
|
|
<distortion_k2>0</distortion_k2>
|
|
<distortion_k3>0</distortion_k3>
|
|
<distortion_t1>0</distortion_t1>
|
|
<distortion_t2>0</distortion_t2>
|
|
<baseline>-0.09</baseline> <!-- home pos. of robot has +x forward, +y left -->
|
|
<interface:stereocamera name="wide_stereo_iface"/>
|
|
</controller:ros_stereo_camera>
|
|
</gazebo><joint name="narrow_stereo_frame_joint" type="fixed">
|
|
<origin rpy="0 0 0" xyz="0 0.015 0"/>
|
|
<parent link="double_stereo_link"/>
|
|
<child link="narrow_stereo_link"/>
|
|
</joint><link name="narrow_stereo_link">
|
|
|
|
<inertial>
|
|
<mass value="0.1"/>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<inertia ixx="0.00482611007" ixy="-0.000144683999" ixz="0.000110076136" iyy="0.005218991412" iyz="-0.000314239509" izz="0.008618784925"/>
|
|
</inertial>
|
|
|
|
<visual name="narrow_stereo_visual">
|
|
<origin rpy="0 0 0" xyz="0.0 0 0.05"/>
|
|
<geometry name="narrow_stereo_visual_geom">
|
|
<box size="0.005 0.01 0.005"/>
|
|
</geometry>
|
|
|
|
<material name="Blue"/>
|
|
</visual>
|
|
|
|
<collision name="narrow_stereo_collision">
|
|
<origin rpy="0 0 0" xyz="0.0 0 0.05"/>
|
|
<geometry name="narrow_stereo_collision_geom">
|
|
<box size="0.005 0.01 0.005"/>
|
|
</geometry>
|
|
</collision>
|
|
|
|
</link><joint name="narrow_stereo_optical_frame_joint" type="fixed">
|
|
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.045 0.0305"/>
|
|
<parent link="narrow_stereo_link"/>
|
|
<child link="narrow_stereo_optical_frame"/>
|
|
</joint><link name="narrow_stereo_optical_frame" type="camera">
|
|
|
|
<inertial>
|
|
<mass value="0.01"/>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
|
|
</inertial>
|
|
|
|
<visual name="narrow_stereo_optical_frame_visual">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="narrow_stereo_optical_frame_visual_geom">
|
|
<box size="0.01 0.01 0.01"/>
|
|
</geometry>
|
|
|
|
<material name="Blue"/>
|
|
</visual>
|
|
|
|
<collision name="narrow_stereo_optical_frame_collision">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="narrow_stereo_optical_frame_collision_geom">
|
|
<box size="0.01 0.01 0.01"/>
|
|
</geometry>
|
|
</collision>
|
|
|
|
</link><joint name="narrow_stereo_l_stereo_camera_frame_joint" type="fixed">
|
|
<origin rpy="0 -1.57079632679 1.57079632679" xyz="0 0 0"/>
|
|
<parent link="narrow_stereo_optical_frame"/>
|
|
<child link="narrow_stereo_l_stereo_camera_frame"/>
|
|
</joint><link name="narrow_stereo_l_stereo_camera_frame">
|
|
|
|
<inertial>
|
|
<mass value="0.01"/>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<inertia ixx="0.001" ixy="0.000" ixz="0.000" iyy="0.001" iyz="0.000" izz="0.001"/>
|
|
</inertial>
|
|
|
|
<visual name="narrow_stereo_l_stereo_camera_visual">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="narrow_stereo_l_stereo_camera_visual_geom">
|
|
<box size="0.01 0.01 0.01"/>
|
|
</geometry>
|
|
|
|
<material name="Blue"/>
|
|
</visual>
|
|
|
|
<collision name="narrow_stereo_l_stereo_camera_collision">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="narrow_stereo_l_stereo_camera_collision_geom">
|
|
<box size="0.01 0.01 0.01"/>
|
|
</geometry>
|
|
</collision>
|
|
|
|
</link><joint name="narrow_stereo_r_stereo_camera_frame_joint" type="fixed">
|
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 -0.09 0.0"/>
|
|
<parent link="narrow_stereo_l_stereo_camera_frame"/>
|
|
<child link="narrow_stereo_r_stereo_camera_frame"/>
|
|
</joint><link name="narrow_stereo_r_stereo_camera_frame">
|
|
|
|
<inertial>
|
|
<mass value="0.01"/>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<inertia ixx="0.001" ixy="0.000" ixz="0.000" iyy="0.001" iyz="0.000" izz="0.001"/>
|
|
</inertial>
|
|
|
|
<visual name="narrow_stereo_r_stereo_camera_visual">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="narrow_stereo_r_stereo_camera_visual_geom">
|
|
<box size="0.01 0.01 0.01"/>
|
|
</geometry>
|
|
|
|
<material name="Blue"/>
|
|
</visual>
|
|
|
|
<collision name="narrow_stereo_r_stereo_camera_collision">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="narrow_stereo_r_stereo_camera_collision_geom">
|
|
<box size="0.01 0.01 0.01"/>
|
|
</geometry>
|
|
</collision>
|
|
|
|
</link><gazebo reference="narrow_stereo_link">
|
|
<material value="PR2/Blue"/>
|
|
</gazebo><gazebo reference="narrow_stereo_optical_frame">
|
|
<material value="PR2/Blue"/>
|
|
</gazebo><gazebo reference="narrow_stereo_l_stereo_camera_frame">
|
|
<sensor:camera name="narrow_stereo_l_sensor">
|
|
<imageSize>640 480</imageSize>
|
|
<imageFormat>L8</imageFormat>
|
|
<hfov>90</hfov>
|
|
<nearClip>0.1</nearClip>
|
|
<farClip>100</farClip>
|
|
<updateRate>20.0</updateRate>
|
|
<controller:ros_camera name="narrow_stereo_l_controller" plugin="libros_camera.so">
|
|
<alwaysOn>true</alwaysOn>
|
|
<updateRate>20.0</updateRate>
|
|
<topicName>narrow_stereo/left_image</topicName>
|
|
<frameName>narrow_stereo_l_stereo_camera_frame</frameName>
|
|
<interface:camera name="narrow_stereo_l_iface"/>
|
|
</controller:ros_camera>
|
|
</sensor:camera>
|
|
<material value="PR2/Blue"/>
|
|
</gazebo><gazebo reference="narrow_stereo_r_stereo_camera_frame">
|
|
<sensor:camera name="narrow_stereo_r_sensor">
|
|
<imageSize>640 480</imageSize>
|
|
<imageFormat>L8</imageFormat>
|
|
<hfov>90</hfov>
|
|
<nearClip>0.1</nearClip>
|
|
<farClip>100</farClip>
|
|
<updateRate>20.0</updateRate>
|
|
<controller:ros_camera name="narrow_stereo_r_controller" plugin="libros_camera.so">
|
|
<alwaysOn>true</alwaysOn>
|
|
<updateRate>20.0</updateRate>
|
|
<topicName>narrow_stereo/right_image</topicName>
|
|
<frameName>narrow_stereo_r_stereo_camera_frame</frameName>
|
|
<interface:camera name="narrow_stereo_r_iface"/>
|
|
</controller:ros_camera>
|
|
</sensor:camera>
|
|
<material value="PR2/Blue"/>
|
|
</gazebo><gazebo> <!-- this is not attached to any link!!!, there no reference -->
|
|
<controller:ros_stereo_camera name="narrow_stereo_controller" plugin="libros_stereo_camera.so">
|
|
<alwaysOn>true</alwaysOn>
|
|
<updateRate>20.0</updateRate>
|
|
<leftCamera>narrow_stereo_l_sensor</leftCamera>
|
|
<rightCamera>narrow_stereo_r_sensor</rightCamera>
|
|
<topicName>narrow_stereo/raw_stereo</topicName>
|
|
<frameName>narrow_stereo_optical_frame</frameName>
|
|
<CxPrime>320</CxPrime>
|
|
<Cx>320</Cx>
|
|
<Cy>240</Cy>
|
|
<focal_length>320</focal_length> <!-- image_width / (2*tan(hfov_radian /2)) -->
|
|
<distortion_k1>0</distortion_k1>
|
|
<distortion_k2>0</distortion_k2>
|
|
<distortion_k3>0</distortion_k3>
|
|
<distortion_t1>0</distortion_t1>
|
|
<distortion_t2>0</distortion_t2>
|
|
<baseline>-0.09</baseline> <!-- home pos. of robot has +x forward, +y left -->
|
|
<interface:stereocamera name="narrow_stereo_iface"/>
|
|
</controller:ros_stereo_camera>
|
|
</gazebo><gazebo reference="double_stereo_double_stereo_link">
|
|
<material value="PR2/Blue"/>
|
|
</gazebo><gazebo reference="sensor_mount_sensor_link">
|
|
<material value="PR2/Blue"/>
|
|
</gazebo>
|
|
|
|
<joint name="laser_tilt_mount_joint" type="revolute">
|
|
<axis xyz="0 1 0"/>
|
|
<limit effort="0.5292" lower="-0.785" upper="1.57" velocity="100"/>
|
|
<safety_controller k_position="100" k_velocity="0.05" soft_lower_limit="-0.785" soft_upper_limit="1.57"/>
|
|
<calibration reference_position="-0.35"/>
|
|
<dynamics damping="0.008"/>
|
|
<origin rpy="0 0 0" xyz="0.1 0 0.235"/>
|
|
<parent link="torso_lift_link"/>
|
|
<child link="laser_tilt_mount_link"/>
|
|
</joint><link name="laser_tilt_mount_link">
|
|
|
|
<inertial>
|
|
<mass value="0.05"/>
|
|
<origin rpy="0 0 0" xyz="-0.03 0 -0.03"/>
|
|
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.0001"/>
|
|
</inertial>
|
|
|
|
<visual name="laser_tilt_mount_visual">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="laser_tilt_mount_visual_geom">
|
|
<mesh filename="package://pr2_defs/meshes/hok_tilt.stl"/>
|
|
</geometry>
|
|
|
|
<material name="Red"/>
|
|
</visual>
|
|
|
|
<collision name="laser_tilt_mount_collision">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="laser_tilt_mount_collision_geom">
|
|
<box size=".001 .001 .001"/>
|
|
</geometry>
|
|
</collision>
|
|
</link><joint name="laser_tilt_joint" type="fixed">
|
|
<axis xyz="0 1 0"/>
|
|
<origin rpy="0 0 0" xyz="0 0 0.03"/>
|
|
<parent link="laser_tilt_mount_link"/>
|
|
<child link="laser_tilt_link"/>
|
|
</joint><link name="laser_tilt_link" type="laser">
|
|
|
|
<inertial>
|
|
<mass value="0.001"/>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.0001"/>
|
|
</inertial>
|
|
|
|
<visual name="laser_tilt_visual">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="laser_tilt_visual_geom">
|
|
<box size="0.001 0.001 0.001"/>
|
|
</geometry>
|
|
|
|
<material name="Red"/>
|
|
</visual>
|
|
|
|
<collision name="laser_tilt_collision">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="laser_tilt_collision_geom">
|
|
<box size=".001 .001 .001"/>
|
|
</geometry>
|
|
</collision>
|
|
|
|
</link><gazebo reference="laser_tilt_mount_link">
|
|
<material value="PR2/Red"/>
|
|
</gazebo><gazebo reference="laser_tilt_link">
|
|
<sensor:ray name="laser_tilt">
|
|
<rayCount>640</rayCount>
|
|
<rangeCount>640</rangeCount>
|
|
<laserCount>1</laserCount>
|
|
|
|
<origin>0.0 0.0 0.0</origin>
|
|
<displayRays>false</displayRays>
|
|
|
|
<minAngle>-80</minAngle>
|
|
<maxAngle> 80</maxAngle>
|
|
|
|
<minRange>0.05</minRange>
|
|
<maxRange>10.0</maxRange>
|
|
<resRange>0.01</resRange>
|
|
<updateRate>20.0</updateRate>
|
|
<controller:ros_laser name="ros_laser_tilt_controller" plugin="libros_laser.so">
|
|
<gaussianNoise>0.005</gaussianNoise>
|
|
<alwaysOn>true</alwaysOn>
|
|
<updateRate>20.0</updateRate>
|
|
<topicName>tilt_scan</topicName>
|
|
<frameName>laser_tilt_link</frameName>
|
|
<interface:laser name="ros_laser_tilt_iface"/>
|
|
</controller:ros_laser>
|
|
</sensor:ray>
|
|
</gazebo><transmission name="laser_tilt_mount_trans" type="SimpleTransmission">
|
|
<actuator name="laser_tilt_mount_motor"/>
|
|
<joint name="laser_tilt_mount_joint"/>
|
|
<mechanicalReduction>6.0</mechanicalReduction>
|
|
</transmission>
|
|
|
|
<joint name="r_shoulder_pan_joint" type="revolute">
|
|
<axis xyz="0 0 1"/>
|
|
<origin rpy="0 0 0" xyz="0 -0.188 0.0"/> <!-- transform from parent link to this joint frame -->
|
|
<parent link="torso_lift_link"/>
|
|
<child link="r_shoulder_pan_link"/>
|
|
<limit effort="30" lower="-2.2853981634" upper="0.714601836603" velocity="2.088"/>
|
|
|
|
<dynamics damping="10.0"/>
|
|
|
|
<safety_controller k_position="100" k_velocity="10" soft_lower_limit="-2.1353981634" soft_upper_limit="0.564601836603"/>
|
|
|
|
<!-- joint angle when the rising or the falling flag is activated on PR2 -->
|
|
<calibration reference_position="-0.785398163397"/>
|
|
|
|
</joint><link name="r_shoulder_pan_link">
|
|
|
|
|
|
<inertial>
|
|
<mass value="25.799322"/>
|
|
<origin rpy="0 0 0" xyz="-0.001201 0.024513 -0.098231"/>
|
|
<inertia ixx="0.866179142480" ixy="-0.06086507933" ixz="-0.12118061183" iyy="0.87421714893" iyz="-0.05886609911" izz="0.27353821674"/>
|
|
</inertial>
|
|
|
|
<visual name="r_shoulder_pan_visual">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="r_shoulder_pan_visual_geom">
|
|
<mesh filename="package://pr2_defs/meshes/shoulder_yaw.stl"/>
|
|
</geometry>
|
|
<material name="Blue"/>
|
|
</visual>
|
|
|
|
<collision name="r_shoulder_pan_collision">
|
|
<origin rpy="0 0 0" xyz="0.0 0 0.0"/>
|
|
<geometry name="r_shoulder_pan_collision_geom">
|
|
<mesh filename="package://pr2_defs/meshes/convex/shoulder_yaw_convex.stlb"/>
|
|
</geometry>
|
|
</collision>
|
|
</link><joint name="r_shoulder_lift_joint" type="revolute">
|
|
<axis xyz="0 1 0"/>
|
|
|
|
<!-- Limits updated from Function's CAD values as of 2009_02_24 (link_data.xls) -->
|
|
<limit effort="30" lower="-0.5236" upper="1.3963" velocity="2.082"/>
|
|
|
|
<safety_controller k_position="100" k_velocity="10" soft_lower_limit="-0.3536" soft_upper_limit="1.3463"/>
|
|
<calibration reference_position="0.0"/>
|
|
<dynamics damping="10.0"/>
|
|
<origin rpy="0 0 0" xyz="0.1 0 0"/>
|
|
<parent link="r_shoulder_pan_link"/>
|
|
<child link="r_shoulder_lift_link"/>
|
|
</joint><link name="r_shoulder_lift_link">
|
|
|
|
<inertial>
|
|
<mass value="2.74988"/>
|
|
<origin rpy="0 0 0" xyz="0.02195 -0.02664 -0.03127"/>
|
|
<inertia ixx="0.02105584615" ixy="0.00496704022" ixz="-0.00194808955" iyy="0.02127223737" iyz="0.00110425490" izz="0.01975753814"/>
|
|
</inertial>
|
|
|
|
<visual name="r_shoulder_lift_visual">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="r_shoulder_lift_visual_geom">
|
|
<mesh filename="package://pr2_defs/meshes/shoulder_lift.stl"/>
|
|
</geometry>
|
|
<material name="Grey"/>
|
|
</visual>
|
|
|
|
<collision name="r_shoulder_lift_collision">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="r_shoulder_lift_collision_geom">
|
|
<mesh filename="package://pr2_defs/meshes/convex/shoulder_lift_convex.stlb"/>
|
|
</geometry>
|
|
</collision>
|
|
</link><joint name="r_upper_arm_roll_joint" type="revolute">
|
|
<axis xyz="1 0 0"/>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<parent link="r_shoulder_lift_link"/>
|
|
<child link="r_upper_arm_roll_link"/>
|
|
<limit effort="30" lower="-3.9" upper="0.8" velocity="3.27"/>
|
|
<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-3.75" soft_upper_limit="0.65"/>
|
|
<calibration reference_position="-1.57079632679"/>
|
|
<dynamics damping="0.1"/>
|
|
</joint><link name="r_upper_arm_roll_link">
|
|
|
|
|
|
<inertial>
|
|
<!-- dummy mass, to be removed -->
|
|
<mass value="0.1"/>
|
|
<origin rpy="0 0 0" xyz="0.0 0 0"/>
|
|
<inertia ixx="0.01" ixy="0.00" ixz="0.00" iyy="0.01" iyz="0.00" izz="0.01"/>
|
|
</inertial>
|
|
<visual name="r_upper_arm_roll_visual">
|
|
<!-- TODO: This component doesn't actually have a mesh -->
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="r_upper_arm_roll_visual_geom">
|
|
<mesh filename="package://pr2_defs/meshes/upper_arm_roll.stl"/>
|
|
</geometry>
|
|
|
|
<material name="RollLinks"/>
|
|
</visual>
|
|
<collision name="r_upper_arm_roll_collision">
|
|
<!-- TODO: collision tag should be optional -->
|
|
<origin rpy="0 0 0" xyz="0.0 0 0"/>
|
|
<geometry name="r_upper_arm_roll_collision_geom">
|
|
<box size="0.1 0.1 0.1"/>
|
|
</geometry>
|
|
</collision>
|
|
</link><joint name="r_upper_arm_joint" type="fixed">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<parent link="r_upper_arm_roll_link"/>
|
|
<child link="r_upper_arm_link"/>
|
|
</joint><link name="r_upper_arm_link">
|
|
|
|
<inertial>
|
|
<!-- NOTE:reflect==-1 for right side, reflect==1 for the left side -->
|
|
<mass value="6.01769"/>
|
|
<origin xyz="0.21398 -0.01621 -0.0002"/>
|
|
<inertia ixx="0.01537748957" ixy="0.00375711247" ixz="-0.00070852914" iyy="0.0747367044" iyz="-0.0001793645" izz="0.07608763307"/>
|
|
</inertial>
|
|
|
|
<visual name="{side}_upper_arm_visual">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="r_upper_arm_visual_geom">
|
|
<mesh filename="package://pr2_defs/meshes/upper_arm.stl"/>
|
|
</geometry>
|
|
|
|
<material name="Green"/>
|
|
</visual>
|
|
|
|
<collision name="r_upper_arm_collision">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="r_upper_arm_collision_geom">
|
|
<mesh filename="package://pr2_defs/meshes/convex/upper_arm_convex.stlb"/>
|
|
</geometry>
|
|
</collision>
|
|
|
|
</link><joint name="r_elbow_flex_joint" type="revolute">
|
|
<axis xyz="0 1 0"/>
|
|
<limit effort="30" lower="-2.3" upper="0.1" velocity="3.3"/>
|
|
<safety_controller k_position="100" k_velocity="3" soft_lower_limit="-2.05" soft_upper_limit="0.0"/>
|
|
<calibration reference_position="-1.1606"/>
|
|
<dynamics damping="1.0"/>
|
|
<origin rpy="0 0 0" xyz="0.4 0 0"/>
|
|
<parent link="r_upper_arm_link"/>
|
|
<child link="r_elbow_flex_link"/>
|
|
</joint><link name="r_elbow_flex_link">
|
|
|
|
|
|
<inertial>
|
|
<mass value="1.90327"/>
|
|
<origin xyz="0.01014 0.00032 -0.01211"/>
|
|
<inertia ixx="0.00346541989" ixy="0.00004066825" ixz="0.00043171614" iyy="0.00441606455" iyz="-0.00003968914" izz="0.00359156824"/>
|
|
</inertial>
|
|
|
|
<visual name="r_elbow_flex_visual">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="r_elbow_flex_visual_geom">
|
|
<mesh filename="package://pr2_defs/meshes/elbow_flex.stl"/>
|
|
</geometry>
|
|
|
|
<material name="Grey"/>
|
|
</visual>
|
|
|
|
<collision name="r_elbow_flex_collision">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="r_elbow_flex_collision_geom">
|
|
<mesh filename="package://pr2_defs/meshes/convex/elbow_flex_convex.stlb"/>
|
|
</geometry>
|
|
</collision>
|
|
</link><joint name="r_forearm_roll_joint" type="continuous">
|
|
<axis xyz="-1 0 0"/>
|
|
|
|
<limit effort="30" velocity="3.6"/>
|
|
<safety_controller k_velocity="1"/>
|
|
<calibration reference_position="0.0"/>
|
|
|
|
<dynamics damping="0.1"/>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<parent link="r_elbow_flex_link"/>
|
|
<child link="r_forearm_roll_link"/>
|
|
</joint><link name="r_forearm_roll_link">
|
|
|
|
<inertial>
|
|
<!-- dummy masses, to be removed -->
|
|
<mass value="0.1"/>
|
|
<origin xyz="0 0 0"/>
|
|
<inertia ixx="0.01" ixy="0.00" ixz="0.00" iyy="0.01" iyz="0.00" izz="0.01"/>
|
|
</inertial>
|
|
<visual name="r_forearm_roll_visual"><!-- TODO: need a mesh for this -->
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="r_forearm_roll_visual_geom">
|
|
<mesh filename="package://pr2_defs/meshes/forearm_roll.stl"/>
|
|
</geometry>
|
|
|
|
<material name="RollLinks"/>
|
|
</visual>
|
|
<collision name="r_forearm_roll_collision"> <!-- TODO: collision tag should be optional -->
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="r_forearm_roll_collision_geom">
|
|
<box size="0.1 0.1 0.1"/>
|
|
</geometry>
|
|
</collision>
|
|
</link><joint name="r_forearm_joint" type="fixed">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<parent link="r_forearm_roll_link"/>
|
|
<child link="r_forearm_link"/>
|
|
</joint><link name="r_forearm_link">
|
|
|
|
<inertial>
|
|
<mass value="2.57968"/>
|
|
<origin xyz="0.18791 -0.00017 -0.00912"/>
|
|
<inertia ixx="0.00364857222" ixy="0.00005215877" ixz="0.00071534842" iyy="0.01507736897" iyz="-0.00001310770" izz="0.01659310749"/>
|
|
</inertial>
|
|
|
|
<visual name="r_forearm_visual">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="r_forearm_visual_geom">
|
|
<mesh filename="package://pr2_defs/meshes/forearm.stl"/>
|
|
</geometry>
|
|
|
|
<material name="Blue"/>
|
|
</visual>
|
|
|
|
<collision name="r_forearm_collision">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="r_forearm_collision_geom">
|
|
<mesh filename="package://pr2_defs/meshes/convex/forearm_convex.stlb"/>
|
|
</geometry>
|
|
</collision>
|
|
</link><joint name="r_wrist_flex_joint" type="revolute">
|
|
<axis xyz="0 -1 0"/>
|
|
<limit effort="200" lower="-0.1" upper="2.2" velocity="3.078"/>
|
|
<safety_controller k_position="20" k_velocity="4" soft_lower_limit="0.1" soft_upper_limit="2.0"/>
|
|
<dynamics damping="0.1"/>
|
|
<calibration reference_position="0.4363"/>
|
|
<origin rpy="0 0 0" xyz="0.32025 0 0"/>
|
|
<parent link="r_forearm_link"/>
|
|
<child link="r_wrist_flex_link"/>
|
|
</joint><link name="r_wrist_flex_link">
|
|
|
|
<inertial>
|
|
<mass value="0.61402"/>
|
|
<origin xyz="-0.00157 0.0 -0.00075"/>
|
|
<inertia ixx="0.00065165722" ixy="0.00000028864" ixz="0.00000303477" iyy="0.00019824443" iyz="-0.00000022645" izz="0.00064450498"/>
|
|
</inertial>
|
|
|
|
<visual name="r_wrist_flex_visual">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="r_wrist_flex_visual_geom">
|
|
<mesh filename="package://pr2_defs/meshes/wrist_flex.stl"/>
|
|
</geometry>
|
|
|
|
<material name="Grey"/>
|
|
</visual>
|
|
|
|
<collision name="r_wrist_flex_collision">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="r_wrist_flex_collision_geom">
|
|
<mesh filename="package://pr2_defs/meshes/convex/wrist_flex_convex.stlb"/>
|
|
</geometry>
|
|
</collision>
|
|
</link><joint name="r_wrist_roll_joint" type="continuous">
|
|
<axis xyz="1 0 0"/>
|
|
<limit effort="10" velocity="3.6"/>
|
|
<safety_controller k_velocity="2"/>
|
|
<dynamics damping="0.1"/>
|
|
<calibration reference_position="1.67" values="1.5 -1"/>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<parent link="r_wrist_flex_link"/>
|
|
<child link="r_wrist_roll_link"/>
|
|
</joint><link name="r_wrist_roll_link">
|
|
<inertial>
|
|
<!-- dummy masses, to be removed. wrist roll masses are on "gripper_palm" -->
|
|
<mass value="0.1"/>
|
|
<origin xyz="0 0 0"/>
|
|
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
|
|
</inertial>
|
|
<visual name="r_wrist_roll_visual">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="r_wrist_roll_visual_geom">
|
|
<mesh filename="package://pr2_defs/meshes/wrist_roll.stl"/>
|
|
</geometry>
|
|
|
|
<material name="RollLinks"/>
|
|
</visual>
|
|
<collision name="r_wrist_roll_collision">
|
|
<origin rpy="0 0 0" xyz="0.0 0 0"/>
|
|
<geometry name="r_wrist_roll_collision_geom">
|
|
<box size="0.01 0.01 0.01"/>
|
|
</geometry>
|
|
<verbose value="Yes"/>
|
|
</collision>
|
|
</link><gazebo reference="r_shoulder_pan_link">
|
|
<sensor:contact name="r_shoulder_pan_contact_sensor">
|
|
<geom>r_shoulder_pan_link_geom</geom>
|
|
<updateRate>100.0</updateRate>
|
|
<controller:ros_bumper name="r_shoulder_pan_ros_bumper_controller" plugin="libros_bumper.so">
|
|
<alwaysOn>true</alwaysOn>
|
|
<updateRate>100.0</updateRate>
|
|
<bumperTopicName>r_shoulder_pan_bumper</bumperTopicName>
|
|
<interface:bumper name="r_shoulder_pan_ros_bumper_iface"/>
|
|
</controller:ros_bumper>
|
|
</sensor:contact>
|
|
<material value="PR2/Blue"/>
|
|
<turnGravityOff>true</turnGravityOff>
|
|
</gazebo><gazebo reference="r_shoulder_pan_joint">
|
|
<stopKd value="1.0"/>
|
|
<stopKp value="1000000.0"/>
|
|
</gazebo><gazebo reference="r_shoulder_lift_link">
|
|
<sensor:contact name="r_shoulder_lift_contact_sensor">
|
|
<geom>r_shoulder_lift_link_geom</geom>
|
|
<updateRate>100.0</updateRate>
|
|
<controller:ros_bumper name="r_shoulder_lift_ros_bumper_controller" plugin="libros_bumper.so">
|
|
<alwaysOn>true</alwaysOn>
|
|
<updateRate>100.0</updateRate>
|
|
<bumperTopicName>r_r_shoulder_lift_bumper</bumperTopicName>
|
|
<interface:bumper name="r_shoulder_lift_ros_bumper_iface"/>
|
|
</controller:ros_bumper>
|
|
</sensor:contact>
|
|
<turnGravityOff>true</turnGravityOff>
|
|
</gazebo><gazebo reference="r_shoulder_lift_joint">
|
|
<stopKd value="1.0"/>
|
|
<stopKp value="1000000.0"/>
|
|
</gazebo><gazebo reference="r_upper_arm_roll_link">
|
|
<mesh value="/u/meeussen/ros/ros-pkg-svn/stacks/pr2_common/pr2_ogre/Media/models/upper_arm_roll.mesh"/>
|
|
<material value="PR2/RollLinks"/>
|
|
<turnGravityOff>true</turnGravityOff>
|
|
</gazebo><gazebo reference="r_upper_arm_roll_joint">
|
|
<stopKd value="1.0"/>
|
|
<stopKp value="1000000.0"/>
|
|
<fudgeFactor value="0.5"/>
|
|
</gazebo><gazebo reference="r_upper_arm_link">
|
|
<sensor:contact name="r_upper_arm_contact_sensor">
|
|
<geom>r_upper_arm_link_geom</geom><!-- TODO -->
|
|
<updateRate>100.0</updateRate>
|
|
<controller:ros_bumper name="r_upper_arm_ros_bumper_controller" plugin="libros_bumper.so">
|
|
<alwaysOn>true</alwaysOn>
|
|
<updateRate>100.0</updateRate>
|
|
<bumperTopicName>r_upper_arm_bumper</bumperTopicName>
|
|
<interface:bumper name="r_upper_arm_ros_bumper_iface"/>
|
|
</controller:ros_bumper>
|
|
</sensor:contact>
|
|
<turnGravityOff>true</turnGravityOff>
|
|
<material value="PR2/Green"/>
|
|
</gazebo><gazebo reference="r_elbow_flex_link">
|
|
<sensor:contact name="r_elbow_flex_contact_sensor">
|
|
<geom>r_elbow_flex_link_geom</geom>
|
|
<updateRate>100.0</updateRate>
|
|
<controller:ros_bumper name="r_elbow_flex_ros_bumper_controller" plugin="libros_bumper.so">
|
|
<alwaysOn>true</alwaysOn>
|
|
<updateRate>100.0</updateRate>
|
|
<bumperTopicName>r_elbow_flex_bumper</bumperTopicName>
|
|
<interface:bumper name="r_elbow_flex_ros_bumper_iface"/>
|
|
</controller:ros_bumper>
|
|
</sensor:contact>
|
|
<material value="PR2/Grey"/>
|
|
<turnGravityOff>true</turnGravityOff>
|
|
</gazebo><gazebo reference="r_elbow_flex_joint">
|
|
<stopKd value="1.0"/>
|
|
<stopKp value="1000000.0"/>
|
|
</gazebo><gazebo reference="r_forearm_roll_link">
|
|
<material value="PR2/RollLinks"/>
|
|
<turnGravityOff>true</turnGravityOff>
|
|
</gazebo><gazebo reference="r_forearm_roll_joint">
|
|
<fudgeFactor value="0.5"/>
|
|
</gazebo><gazebo reference="r_forearm_link">
|
|
<turnGravityOff>true</turnGravityOff>
|
|
<sensor:contact name="r_forearm_contact_sensor">
|
|
<geom>r_forearm_link_geom</geom>
|
|
<updateRate>100.0</updateRate>
|
|
<controller:ros_bumper name="r_forearm_ros_bumper_controller" plugin="libros_bumper.so">
|
|
<alwaysOn>true</alwaysOn>
|
|
<updateRate>100.0</updateRate>
|
|
<bumperTopicName>r_forearm_bumper</bumperTopicName>
|
|
<interface:bumper name="r_forearm_ros_bumper_iface"/>
|
|
</controller:ros_bumper>
|
|
</sensor:contact>
|
|
<material value="PR2/Blue"/>
|
|
</gazebo><gazebo reference="r_wrist_flex_link">
|
|
<turnGravityOff>true</turnGravityOff>
|
|
<sensor:contact name="r_wrist_flex_contact_sensor">
|
|
<geom>r_wrist_flex_link_geom</geom>
|
|
<updateRate>100.0</updateRate>
|
|
<controller:ros_bumper name="r_wrist_flex_ros_bumper_controller" plugin="libros_bumper.so">
|
|
<alwaysOn>true</alwaysOn>
|
|
<updateRate>100.0</updateRate>
|
|
<bumperTopicName>r_wrist_flex_bumper</bumperTopicName>
|
|
<interface:bumper name="r_wrist_flex_ros_bumper_iface"/>
|
|
</controller:ros_bumper>
|
|
</sensor:contact>
|
|
<material value="PR2/Grey"/>
|
|
</gazebo><gazebo reference="r_wrist_flex_joint">
|
|
<stopKd value="1.0"/>
|
|
<stopKp value="1000000.0"/>
|
|
</gazebo><gazebo reference="r_wrist_roll_link">
|
|
<turnGravityOff>true</turnGravityOff>
|
|
<sensor:contact name="r_wrist_roll_contact_sensor">
|
|
<geom>r_wrist_roll_link_geom</geom>
|
|
<updateRate>100.0</updateRate>
|
|
<controller:ros_bumper name="r_wrist_roll_ros_bumper_controller" plugin="libros_bumper.so">
|
|
<alwaysOn>true</alwaysOn>
|
|
<updateRate>100.0</updateRate>
|
|
<bumperTopicName>r_wrist_roll_bumper</bumperTopicName>
|
|
<interface:bumper name="r_wrist_roll_ros_bumper_iface"/>
|
|
</controller:ros_bumper>
|
|
</sensor:contact>
|
|
<material value="PR2/RollLinks"/>
|
|
</gazebo><gazebo reference="r_wrist_roll_joint">
|
|
<fudgeFactor value="0.5"/>
|
|
</gazebo><transmission name="r_shoulder_pan_trans" type="SimpleTransmission">
|
|
<actuator name="r_shoulder_pan_motor"/>
|
|
<joint name="r_shoulder_pan_joint"/>
|
|
<mechanicalReduction>63.16</mechanicalReduction>
|
|
</transmission><transmission name="r_shoulder_lift_trans" type="SimpleTransmission">
|
|
<actuator name="r_shoulder_lift_motor"/>
|
|
<joint name="r_shoulder_lift_joint"/>
|
|
<mechanicalReduction>61.89</mechanicalReduction>
|
|
</transmission><transmission name="r_upper_arm_roll_trans" type="SimpleTransmission">
|
|
<actuator name="r_upper_arm_roll_motor"/>
|
|
<joint name="r_upper_arm_roll_joint"/>
|
|
<mechanicalReduction>32.65</mechanicalReduction>
|
|
</transmission><transmission name="r_elbow_flex_trans" type="SimpleTransmission">
|
|
<actuator name="r_elbow_flex_motor"/>
|
|
<joint name="r_elbow_flex_joint"/>
|
|
<mechanicalReduction>-36.17</mechanicalReduction>
|
|
</transmission><transmission name="r_forearm_roll_trans" type="SimpleTransmission">
|
|
<actuator name="r_forearm_roll_motor"/>
|
|
<joint name="r_forearm_roll_joint"/>
|
|
<mechanicalReduction>90.5142857143</mechanicalReduction>
|
|
</transmission><transmission name="r_wrist_trans" type="WristTransmission">
|
|
<rightActuator name="r_wrist_r_motor"/>
|
|
<leftActuator name="r_wrist_l_motor"/>
|
|
<flexJoint mechanicalReduction="60.1714285714" name="r_wrist_flex_joint"/>
|
|
<rollJoint mechanicalReduction="60.1714285714" name="r_wrist_roll_joint"/>
|
|
</transmission>
|
|
<joint name="r_gripper_palm_joint" type="fixed">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<parent link="r_wrist_roll_link"/>
|
|
<child link="r_gripper_palm_link"/>
|
|
</joint><link name="r_gripper_palm_link">
|
|
<inertial>
|
|
<mass value="0.58007"/>
|
|
<origin rpy="0 0 0" xyz="0.06623 0.00053 -0.00119"/>
|
|
<inertia ixx="0.00035223921" ixy="-0.00001580476" ixz="-0.00000091750" iyy="0.00067741312" iyz="-0.00000059554" izz="0.00086563316"/>
|
|
</inertial>
|
|
|
|
<visual name="r_gripper_palm_visual">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="r_gripper_palm_visual_geom">
|
|
<mesh filename="package://pr2_defs/meshes/gripper_palm.stl"/>
|
|
</geometry>
|
|
|
|
<material name="Red"/>
|
|
</visual>
|
|
<collision name="r_gripper_palm_collision">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="r_gripper_palm_collision_geom">
|
|
<mesh filename="package://pr2_defs/meshes/convex/gripper_palm_convex.stlb"/>
|
|
</geometry>
|
|
<verbose value="Yes"/>
|
|
</collision>
|
|
</link><joint name="r_gripper_float_joint" type="prismatic">
|
|
<limit effort="10" lower="-0.05" upper="0.001" velocity="10"/>
|
|
<safety_controller soft_lower_limit="-0.05" soft_upper_limit="0.001"/>
|
|
<axis xyz="1 0 0"/>
|
|
<dynamics damping="10.0"/>
|
|
<origin rpy="0 0 0" xyz="0.05 0 0"/>
|
|
<parent link="r_gripper_palm_link"/>
|
|
<child link="r_gripper_float_link"/>
|
|
</joint><link name="r_gripper_float_link">
|
|
|
|
<inertial>
|
|
<mass value="0.01"/>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
|
|
</inertial>
|
|
<visual name="r_gripper_float_visual">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="r_gripper_float_visual_geom">
|
|
<box size="0.001 0.001 0.001"/>
|
|
</geometry>
|
|
|
|
<material name="White"/>
|
|
</visual>
|
|
<collision name="r_gripper_float_collision">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="r_gripper_float_collision_geom">
|
|
<box size="0.001 0.001 0.001"/>
|
|
</geometry>
|
|
<verbose value="Yes"/>
|
|
</collision>
|
|
</link><joint name="r_gripper_tool_joint" type="fixed">
|
|
<origin rpy="0 0 0" xyz="0.18 0 0"/>
|
|
<parent link="r_gripper_palm_link"/>
|
|
<child link="r_gripper_tool_frame"/>
|
|
</joint><link name="r_gripper_tool_frame">
|
|
|
|
<!-- TODO: all that follows is made-up and useless, but the old parser crashes without it -->
|
|
<inertial>
|
|
<mass value="0"/>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
|
</inertial>
|
|
<visual name="r_gripper_tool_visual">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="r_gripper_tool_visual_geom">
|
|
<box size="0.001 0.001 0.001"/>
|
|
</geometry>
|
|
|
|
<material name="Grey"/>
|
|
</visual>
|
|
<collision name="r_gripper_tool_collision">
|
|
<origin rpy="0 0 0" xyz="-0.1 0 0"/> <!-- move it out of the way -->
|
|
<geometry name="r_gripper_tool_collision_geom">
|
|
<box size="0.001 0.001 0.001"/>
|
|
</geometry>
|
|
</collision>
|
|
</link><joint name="r_gripper_l_finger_joint" type="revolute">
|
|
<axis xyz="0 0 1"/>
|
|
|
|
<limit effort="100.0" lower="0.0" upper="0.548" velocity="0.5"/><safety_controller k_position="100.0" k_velocity="100.0" soft_lower_limit="0.0" soft_upper_limit="0.548"/>
|
|
|
|
<dynamics damping="0.2"/>
|
|
<origin rpy="0 0 0" xyz="0.07691 0.01 0"/>
|
|
<parent link="r_gripper_palm_link"/>
|
|
<child link="r_gripper_l_finger_link"/>
|
|
</joint><link name="r_gripper_l_finger_link">
|
|
|
|
|
|
<inertial>
|
|
<mass value="0.17126"/>
|
|
<origin rpy="0 0 0" xyz="0.03598 0.01730 -0.00164"/>
|
|
<inertia ixx="0.00007756198" ixy="0.00000149095" ixz="-0.00000983385" iyy="0.00019708305" iyz="-0.00000306125" izz="0.00018105446"/>
|
|
</inertial>
|
|
<visual name="r_gripper_l_finger_visual">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="r_gripper_l_finger_visual_geom">
|
|
<mesh filename="package://pr2_defs/meshes/upper_finger_l.stl"/>
|
|
</geometry>
|
|
|
|
<material name="Grey"/>
|
|
</visual>
|
|
<collision name="r_gripper_l_finger_collision">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="r_gripper_l_finger_collision_geom">
|
|
<mesh filename="package://pr2_defs/meshes/convex/upper_finger_l_convex.stlb"/>
|
|
</geometry>
|
|
<verbose value="Yes"/>
|
|
</collision>
|
|
</link><joint name="r_gripper_r_finger_joint" type="revolute">
|
|
<axis xyz="0 0 -1"/>
|
|
<origin rpy="0 0 0" xyz="0.07691 -0.01 0"/>
|
|
<limit effort="100.0" lower="0.0" upper="0.548" velocity="0.5"/><safety_controller k_position="100.0" k_velocity="100.0" soft_lower_limit="0.0" soft_upper_limit="0.548"/>
|
|
<dynamics damping="0.2"/>
|
|
<mimic joint="r_gripper_l_finger_joint" multiplier="1" offset="0"/>
|
|
<parent link="r_gripper_palm_link"/>
|
|
<child link="r_gripper_r_finger_link"/>
|
|
</joint><link name="r_gripper_r_finger_link">
|
|
|
|
|
|
<inertial>
|
|
<mass value="0.17389"/>
|
|
<origin rpy="0 0 0" xyz="0.03576 -0.01736 -0.00095"/>
|
|
<inertia ixx="0.00007738410" ixy="-0.00000209309" ixz="-0.00000836228" iyy="0.00019847383" iyz="0.00000246110" izz="0.00018106988"/>
|
|
</inertial>
|
|
<visual name="r_gripper_r_finger_visual">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="r_gripper_r_finger_visual_geom">
|
|
<mesh filename="package://pr2_defs/meshes/upper_finger_r.stl"/>
|
|
</geometry>
|
|
|
|
<material name="Grey"/>
|
|
</visual>
|
|
<collision name="r_gripper_r_finger_collision">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="r_gripper_r_finger_collision_geom">
|
|
<mesh filename="package://pr2_defs/meshes/convex/upper_finger_r_convex.stlb"/>
|
|
</geometry>
|
|
<verbose value="Yes"/>
|
|
</collision>
|
|
</link><joint name="r_gripper_l_finger_tip_joint" type="revolute">
|
|
<axis xyz="0 0 -1"/>
|
|
<origin rpy="0 0 0" xyz="0.09137 0.00495 0"/>
|
|
<limit effort="100.0" lower="0.0" upper="0.548" velocity="0.5"/><safety_controller k_position="100.0" k_velocity="100.0" soft_lower_limit="0.0" soft_upper_limit="0.548"/>
|
|
<dynamics damping="0.01"/>
|
|
<mimic joint="r_gripper_l_finger_joint" multiplier="1" offset="0"/>
|
|
<parent link="r_gripper_l_finger_link"/>
|
|
<child link="r_gripper_l_finger_tip_link"/>
|
|
</joint><link name="r_gripper_l_finger_tip_link">
|
|
|
|
|
|
<inertial>
|
|
<mass value="0.04419"/>
|
|
<origin rpy="0 0 0" xyz="0.00423 0.00284 0.0"/>
|
|
<inertia ixx="0.00000837047" ixy="0.00000583632" ixz="0.0" iyy="0.00000987067" iyz="0.0" izz="0.00001541768"/>
|
|
</inertial>
|
|
<visual name="r_gripper_l_finger_tip_visual">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="r_gripper_l_finger_tip_visual_geom">
|
|
<mesh filename="package://pr2_defs/meshes/finger_tip_l.stl"/>
|
|
</geometry>
|
|
|
|
<material name="Green"/>
|
|
</visual>
|
|
<collision name="r_gripper_l_finger_tip_collision">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="r_gripper_l_finger_tip_collision_geom">
|
|
<mesh filename="package://pr2_defs/meshes/convex/finger_tip_l_convex.stlb"/>
|
|
</geometry>
|
|
<verbose value="Yes"/>
|
|
</collision>
|
|
</link><joint name="r_gripper_r_finger_tip_joint" type="revolute">
|
|
<axis xyz="0 0 1"/>
|
|
<origin rpy="0 0 0" xyz="0.09137 -0.00495 0"/>
|
|
<limit effort="100.0" lower="0.0" upper="0.548" velocity="0.5"/><safety_controller k_position="100.0" k_velocity="100.0" soft_lower_limit="0.0" soft_upper_limit="0.548"/>
|
|
<dynamics damping="0.01"/>
|
|
<mimic joint="r_gripper_l_finger_joint" multiplier="1" offset="0"/>
|
|
<parent link="r_gripper_r_finger_link"/>
|
|
<child link="r_gripper_r_finger_tip_link"/>
|
|
</joint><link name="r_gripper_r_finger_tip_link">
|
|
|
|
|
|
<inertial>
|
|
<mass value="0.04419"/>
|
|
<origin rpy="0 0 0" xyz="0.00423 -0.00284 0.0"/>
|
|
<inertia ixx="0.00000837047" ixy="-0.00000583632" ixz="0.0" iyy="0.00000987067" iyz="0.0" izz="0.00001541768"/>
|
|
</inertial>
|
|
<visual name="r_gripper_r_finger_tip_visual">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="r_gripper_r_finger_tip_visual_geom">
|
|
<mesh filename="package://pr2_defs/meshes/finger_tip_r.stl"/>
|
|
</geometry>
|
|
|
|
<material name="Green"/>
|
|
</visual>
|
|
<collision name="r_gripper_r_finger_tip_collision">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="r_gripper_r_finger_tip_collision_geom">
|
|
<mesh filename="package://pr2_defs/meshes/convex/finger_tip_r_convex.stlb"/>
|
|
</geometry>
|
|
<verbose value="Yes"/>
|
|
</collision>
|
|
</link><gazebo reference="r_gripper_l_finger_link">
|
|
<turnGravityOff>true</turnGravityOff>
|
|
<sensor:contact name="r_gripper_l_finger_contact_sensor">
|
|
<geom>r_gripper_l_finger_link_geom</geom>
|
|
<updateRate>100.0</updateRate>
|
|
<controller:ros_bumper name="r_gripper_l_finger_ros_bumper_controller" plugin="libros_bumper.so">
|
|
<alwaysOn>true</alwaysOn>
|
|
<updateRate>100.0</updateRate>
|
|
<bumperTopicName>r_gripper_l_finger_bumper</bumperTopicName>
|
|
<interface:bumper name="r_gripper_l_finger_ros_bumper_iface"/>
|
|
</controller:ros_bumper>
|
|
</sensor:contact>
|
|
<mu1 value="500.0"/>
|
|
<mu2 value="500.0"/>
|
|
<kp value="1000000.0"/>
|
|
<kd value="1.0"/>
|
|
<material value="PR2/Grey"/>
|
|
<!-- for "${prefix}_l_finger_joint"-->
|
|
</gazebo><gazebo reference="r_gripper_l_finger_joint">
|
|
<stopKd value="1.0"/>
|
|
<stopKp value="10000000.0"/>
|
|
<fudgeFactor value="1.0"/>
|
|
<provideFeedback value="true"/>
|
|
</gazebo><gazebo reference="r_gripper_r_finger_link">
|
|
<turnGravityOff>true</turnGravityOff>
|
|
<sensor:contact name="r_gripper_r_finger_contact_sensor">
|
|
<geom>r_gripper_r_finger_link_geom</geom>
|
|
<updateRate>100.0</updateRate>
|
|
<controller:ros_bumper name="r_gripper_r_finger_ros_bumper_controller" plugin="libros_bumper.so">
|
|
<alwaysOn>true</alwaysOn>
|
|
<updateRate>100.0</updateRate>
|
|
<bumperTopicName>r_gripper_r_finger_bumper</bumperTopicName>
|
|
<interface:bumper name="r_gripper_r_finger_ros_bumper_iface"/>
|
|
</controller:ros_bumper>
|
|
</sensor:contact>
|
|
<mu1 value="500.0"/>
|
|
<mu2 value="500.0"/>
|
|
<kp value="1000000.0"/>
|
|
<kd value="1.0"/>
|
|
<material value="PR2/Grey"/>
|
|
</gazebo><gazebo reference="r_gripper_r_finger_joint">
|
|
<stopKd value="1.0"/>
|
|
<stopKp value="10000000.0"/>
|
|
<fudgeFactor value="1.0"/>
|
|
<provideFeedback value="true"/>
|
|
</gazebo><gazebo reference="r_gripper_l_finger_tip_link">
|
|
<turnGravityOff>true</turnGravityOff>
|
|
<selfCollide value="false"/>
|
|
<sensor:contact name="r_gripper_l_finger_tip_contact_sensor">
|
|
<geom>r_gripper_l_finger_tip_link_geom</geom>
|
|
<updateRate>100.0</updateRate>
|
|
<controller:ros_bumper name="r_gripper_l_finger_tip_ros_bumper_controller" plugin="libros_bumper.so">
|
|
<alwaysOn>true</alwaysOn>
|
|
<updateRate>100.0</updateRate>
|
|
<bumperTopicName>r_gripper_l_finger_tip_bumper</bumperTopicName>
|
|
<interface:bumper name="r_gripper_l_finger_tip_ros_bumper_iface"/>
|
|
</controller:ros_bumper>
|
|
</sensor:contact>
|
|
<mu1 value="500.0"/>
|
|
<mu2 value="500.0"/>
|
|
<kp value="10000000.0"/>
|
|
<kd value="1.0"/>
|
|
<material value="PR2/Green"/>
|
|
</gazebo><gazebo reference="r_gripper_l_finger_tip_joint">
|
|
<stopKd value="1.0"/>
|
|
<stopKp value="10000000.0"/>
|
|
<fudgeFactor value="1.0"/>
|
|
<provideFeedback value="true"/>
|
|
</gazebo><gazebo reference="r_gripper_r_finger_tip_link">
|
|
<turnGravityOff>true</turnGravityOff>
|
|
<selfCollide value="false"/>
|
|
<sensor:contact name="r_gripper_r_finger_tip_contact_sensor">
|
|
<geom>r_gripper_r_finger_tip_link_geom</geom>
|
|
<updateRate>100.0</updateRate>
|
|
<controller:ros_bumper name="r_gripper_r_finger_tip_ros_bumper_controller" plugin="libros_bumper.so">
|
|
<alwaysOn>true</alwaysOn>
|
|
<updateRate>100.0</updateRate>
|
|
<bumperTopicName>r_gripper_r_finger_tip_bumper</bumperTopicName>
|
|
<interface:bumper name="r_gripper_r_finger_tip_ros_bumper_iface"/>
|
|
</controller:ros_bumper>
|
|
</sensor:contact>
|
|
<mu1 value="500.0"/>
|
|
<mu2 value="500.0"/>
|
|
<kp value="10000000.0"/>
|
|
<kd value="1.0"/>
|
|
<material value="PR2/Green"/>
|
|
</gazebo><gazebo>
|
|
<controller:ros_p3d name="p3d_r_gripper_l_finger_controller" plugin="libros_p3d.so">
|
|
<alwaysOn>true</alwaysOn>
|
|
<updateRate>100.0</updateRate>
|
|
<bodyName>r_gripper_l_finger_link</bodyName>
|
|
<topicName>r_gripper_l_finger_pose_ground_truth</topicName>
|
|
<gaussianNoise>0.0</gaussianNoise>
|
|
<frameName>map</frameName>
|
|
<interface:position name="p3d_r_gripper_l_finger_position_iface"/>
|
|
</controller:ros_p3d>
|
|
<controller:ros_f3d name="f3d_r_gripper_l_finger_controller" plugin="libros_f3d.so">
|
|
<alwaysOn>true</alwaysOn>
|
|
<updateRate>100.0</updateRate>
|
|
<bodyName>r_gripper_l_finger_link</bodyName>
|
|
<topicName>r_gripper_l_finger_force_ground_truth</topicName>
|
|
<frameName>r_gripper_l_finger_link</frameName>
|
|
<interface:position name="f3d_r_gripper_l_finger_force_iface"/>
|
|
</controller:ros_f3d>
|
|
</gazebo><gazebo reference="r_gripper_r_finger_tip_joint">
|
|
<stopKd value="1.0"/>
|
|
<stopKp value="10000000.0"/>
|
|
<fudgeFactor value="1.0"/>
|
|
<provideFeedback value="true"/>
|
|
</gazebo><joint name="r_gripper_joint" type="prismatic">
|
|
<axis xyz="0 0 1"/>
|
|
<limit effort="100.0" lower="0.0" upper="0.09" velocity="0.2"/>
|
|
<safety_controller k_position="20.0" k_velocity="500.0" soft_lower_limit="0.0" soft_upper_limit="0.089"/>
|
|
</joint><gazebo reference="r_gripper_palm_link">
|
|
<turnGravityOff>true</turnGravityOff>
|
|
<sensor:contact name="r_gripper_palm_contact_sensor">
|
|
<geom>r_gripper_palm_link_geom</geom>
|
|
<updateRate>100.0</updateRate>
|
|
<controller:ros_bumper name="r_gripper_palm_ros_bumper_controller" plugin="libros_bumper.so">
|
|
<alwaysOn>true</alwaysOn>
|
|
<updateRate>100.0</updateRate>
|
|
<bumperTopicName>r_gripper_palm_bumper</bumperTopicName>
|
|
<interface:bumper name="r_gripper_palm_ros_bumper_iface"/>
|
|
</controller:ros_bumper>
|
|
</sensor:contact>
|
|
<material value="PR2/Red"/>
|
|
</gazebo><gazebo reference="r_gripper_float_link">
|
|
<turnGravityOff>true</turnGravityOff>
|
|
<material value="PR2/White"/>
|
|
</gazebo><gazebo>
|
|
<joint:slider name="r_gripper_l_finger_tip_slider_joint">
|
|
<body1>r_gripper_l_finger_tip_link</body1>
|
|
<body2>r_gripper_float_link</body2>
|
|
<anchor>r_gripper_l_finger_tip_link</anchor>
|
|
<axis>0 1 0</axis>
|
|
<anchorOffset>0 0 0</anchorOffset>
|
|
</joint:slider>
|
|
<joint:slider name="r_gripper_r_finger_tip_slider_joint">
|
|
<body1>r_gripper_r_finger_tip_link</body1>
|
|
<body2>r_gripper_float_link</body2>
|
|
<anchor>r_gripper_r_finger_tip_link</anchor>
|
|
<axis>0 1 0</axis>
|
|
<anchorOffset>0 0 0</anchorOffset>
|
|
</joint:slider>
|
|
<!--
|
|
<joint:slider name="${side}_gripper_finger_tip_slider_joint">
|
|
<body1>${side}_gripper_l_finger_tip_link</body1>
|
|
<body2>${side}_gripper_r_finger_tip_link</body2>
|
|
<anchor>${side}_gripper_l_finger_tip_link</anchor>
|
|
<axis>0 1 0</axis>
|
|
<anchorOffset>0 0 0</anchorOffset>
|
|
<lowStop>0.0</lowStop>
|
|
<highStop>0.08</highStop>
|
|
</joint:slider>
|
|
-->
|
|
</gazebo><gazebo>
|
|
<controller:ros_p3d name="p3d_r_gripper_palm_controller" plugin="libros_p3d.so">
|
|
<alwaysOn>true</alwaysOn>
|
|
<updateRate>100.0</updateRate>
|
|
<bodyName>r_gripper_palm_link</bodyName>
|
|
<topicName>r_gripper_palm_pose_ground_truth</topicName>
|
|
<xyzOffsets>0 0 0</xyzOffsets>
|
|
<rpyOffsets>0 0 0</rpyOffsets>
|
|
<gaussianNoise>0.0</gaussianNoise>
|
|
<frameName>map</frameName>
|
|
<interface:position name="p3d_r_gripper_palm_position_iface"/>
|
|
</controller:ros_p3d>
|
|
</gazebo><gazebo reference="r_gripper_tool_link">
|
|
<turnGravityOff>true</turnGravityOff>
|
|
<material value="PR2/Grey"/>
|
|
</gazebo><transmission name="r_gripper_trans" type="PR2GripperTransmission">
|
|
<actuator name="r_gripper_motor"/>
|
|
<gap_joint gear_ratio="29.16" mechanical_reduction="1.0" name="r_gripper_joint" screw_reduction="0.002"/>
|
|
<passive_joint name="r_gripper_l_finger_joint"/>
|
|
<passive_joint name="r_gripper_r_finger_joint"/>
|
|
<passive_joint name="r_gripper_r_finger_tip_joint"/>
|
|
<passive_joint name="r_gripper_l_finger_tip_joint"/>
|
|
</transmission>
|
|
|
|
<joint name="l_shoulder_pan_joint" type="revolute">
|
|
<axis xyz="0 0 1"/>
|
|
<origin rpy="0 0 0" xyz="0.0 0.188 0.0"/> <!-- transform from parent link to this joint frame -->
|
|
<parent link="torso_lift_link"/>
|
|
<child link="l_shoulder_pan_link"/>
|
|
<limit effort="30" lower="-0.714601836603" upper="2.2853981634" velocity="2.088"/>
|
|
|
|
<dynamics damping="10.0"/>
|
|
|
|
<safety_controller k_position="100" k_velocity="10" soft_lower_limit="-0.564601836603" soft_upper_limit="2.1353981634"/>
|
|
|
|
<!-- joint angle when the rising or the falling flag is activated on PR2 -->
|
|
<calibration reference_position="0.785398163397"/>
|
|
|
|
</joint><link name="l_shoulder_pan_link">
|
|
|
|
|
|
<inertial>
|
|
<mass value="25.799322"/>
|
|
<origin rpy="0 0 0" xyz="-0.001201 0.024513 -0.098231"/>
|
|
<inertia ixx="0.866179142480" ixy="-0.06086507933" ixz="-0.12118061183" iyy="0.87421714893" iyz="-0.05886609911" izz="0.27353821674"/>
|
|
</inertial>
|
|
|
|
<visual name="l_shoulder_pan_visual">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="l_shoulder_pan_visual_geom">
|
|
<mesh filename="package://pr2_defs/meshes/shoulder_yaw.stl"/>
|
|
</geometry>
|
|
<material name="Blue"/>
|
|
</visual>
|
|
|
|
<collision name="l_shoulder_pan_collision">
|
|
<origin rpy="0 0 0" xyz="0.0 0 0.0"/>
|
|
<geometry name="l_shoulder_pan_collision_geom">
|
|
<mesh filename="package://pr2_defs/meshes/convex/shoulder_yaw_convex.stlb"/>
|
|
</geometry>
|
|
</collision>
|
|
</link><joint name="l_shoulder_lift_joint" type="revolute">
|
|
<axis xyz="0 1 0"/>
|
|
|
|
<!-- Limits updated from Function's CAD values as of 2009_02_24 (link_data.xls) -->
|
|
<limit effort="30" lower="-0.5236" upper="1.3963" velocity="2.082"/>
|
|
|
|
<safety_controller k_position="100" k_velocity="10" soft_lower_limit="-0.3536" soft_upper_limit="1.3463"/>
|
|
<calibration reference_position="0.0"/>
|
|
<dynamics damping="10.0"/>
|
|
<origin rpy="0 0 0" xyz="0.1 0 0"/>
|
|
<parent link="l_shoulder_pan_link"/>
|
|
<child link="l_shoulder_lift_link"/>
|
|
</joint><link name="l_shoulder_lift_link">
|
|
|
|
<inertial>
|
|
<mass value="2.74988"/>
|
|
<origin rpy="0 0 0" xyz="0.02195 -0.02664 -0.03127"/>
|
|
<inertia ixx="0.02105584615" ixy="0.00496704022" ixz="-0.00194808955" iyy="0.02127223737" iyz="0.00110425490" izz="0.01975753814"/>
|
|
</inertial>
|
|
|
|
<visual name="l_shoulder_lift_visual">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="l_shoulder_lift_visual_geom">
|
|
<mesh filename="package://pr2_defs/meshes/shoulder_lift.stl"/>
|
|
</geometry>
|
|
<material name="Grey"/>
|
|
</visual>
|
|
|
|
<collision name="l_shoulder_lift_collision">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="l_shoulder_lift_collision_geom">
|
|
<mesh filename="package://pr2_defs/meshes/convex/shoulder_lift_convex.stlb"/>
|
|
</geometry>
|
|
</collision>
|
|
</link><joint name="l_upper_arm_roll_joint" type="revolute">
|
|
<axis xyz="1 0 0"/>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<parent link="l_shoulder_lift_link"/>
|
|
<child link="l_upper_arm_roll_link"/>
|
|
<limit effort="30" lower="-0.8" upper="3.9" velocity="3.27"/>
|
|
<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-0.65" soft_upper_limit="3.75"/>
|
|
<calibration reference_position="1.57079632679"/>
|
|
<dynamics damping="0.1"/>
|
|
</joint><link name="l_upper_arm_roll_link">
|
|
|
|
|
|
<inertial>
|
|
<!-- dummy mass, to be removed -->
|
|
<mass value="0.1"/>
|
|
<origin rpy="0 0 0" xyz="0.0 0 0"/>
|
|
<inertia ixx="0.01" ixy="0.00" ixz="0.00" iyy="0.01" iyz="0.00" izz="0.01"/>
|
|
</inertial>
|
|
<visual name="l_upper_arm_roll_visual">
|
|
<!-- TODO: This component doesn't actually have a mesh -->
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="l_upper_arm_roll_visual_geom">
|
|
<mesh filename="package://pr2_defs/meshes/upper_arm_roll.stl"/>
|
|
</geometry>
|
|
|
|
<material name="RollLinks"/>
|
|
</visual>
|
|
<collision name="l_upper_arm_roll_collision">
|
|
<!-- TODO: collision tag should be optional -->
|
|
<origin rpy="0 0 0" xyz="0.0 0 0"/>
|
|
<geometry name="l_upper_arm_roll_collision_geom">
|
|
<box size="0.1 0.1 0.1"/>
|
|
</geometry>
|
|
</collision>
|
|
</link><joint name="l_upper_arm_joint" type="fixed">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<parent link="l_upper_arm_roll_link"/>
|
|
<child link="l_upper_arm_link"/>
|
|
</joint><link name="l_upper_arm_link">
|
|
|
|
<inertial>
|
|
<!-- NOTE:reflect==-1 for right side, reflect==1 for the left side -->
|
|
<mass value="6.01769"/>
|
|
<origin xyz="0.21405 0.01658 -0.00057"/>
|
|
<inertia ixx="0.01530603856" ixy="-0.00339324862" ixz="0.00060765455" iyy="0.07473694455" iyz="-0.00019953729" izz="0.07601594191"/>
|
|
</inertial>
|
|
|
|
<visual name="{side}_upper_arm_visual">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="l_upper_arm_visual_geom">
|
|
<mesh filename="package://pr2_defs/meshes/upper_arm.stl"/>
|
|
</geometry>
|
|
|
|
<material name="Green"/>
|
|
</visual>
|
|
|
|
<collision name="l_upper_arm_collision">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="l_upper_arm_collision_geom">
|
|
<mesh filename="package://pr2_defs/meshes/convex/upper_arm_convex.stlb"/>
|
|
</geometry>
|
|
</collision>
|
|
|
|
</link><joint name="l_elbow_flex_joint" type="revolute">
|
|
<axis xyz="0 1 0"/>
|
|
<limit effort="30" lower="-2.3" upper="0.1" velocity="3.3"/>
|
|
<safety_controller k_position="100" k_velocity="3" soft_lower_limit="-2.05" soft_upper_limit="0.0"/>
|
|
<calibration reference_position="-1.1606"/>
|
|
<dynamics damping="1.0"/>
|
|
<origin rpy="0 0 0" xyz="0.4 0 0"/>
|
|
<parent link="l_upper_arm_link"/>
|
|
<child link="l_elbow_flex_link"/>
|
|
</joint><link name="l_elbow_flex_link">
|
|
|
|
|
|
<inertial>
|
|
<mass value="1.90327"/>
|
|
<origin xyz="0.01014 0.00032 -0.01211"/>
|
|
<inertia ixx="0.00346541989" ixy="0.00004066825" ixz="0.00043171614" iyy="0.00441606455" iyz="-0.00003968914" izz="0.00359156824"/>
|
|
</inertial>
|
|
|
|
<visual name="l_elbow_flex_visual">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="l_elbow_flex_visual_geom">
|
|
<mesh filename="package://pr2_defs/meshes/elbow_flex.stl"/>
|
|
</geometry>
|
|
|
|
<material name="Grey"/>
|
|
</visual>
|
|
|
|
<collision name="l_elbow_flex_collision">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="l_elbow_flex_collision_geom">
|
|
<mesh filename="package://pr2_defs/meshes/convex/elbow_flex_convex.stlb"/>
|
|
</geometry>
|
|
</collision>
|
|
</link><joint name="l_forearm_roll_joint" type="continuous">
|
|
<axis xyz="-1 0 0"/>
|
|
|
|
<limit effort="30" velocity="3.6"/>
|
|
<safety_controller k_velocity="1"/>
|
|
<calibration reference_position="0.0"/>
|
|
|
|
<dynamics damping="0.1"/>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<parent link="l_elbow_flex_link"/>
|
|
<child link="l_forearm_roll_link"/>
|
|
</joint><link name="l_forearm_roll_link">
|
|
|
|
<inertial>
|
|
<!-- dummy masses, to be removed -->
|
|
<mass value="0.1"/>
|
|
<origin xyz="0 0 0"/>
|
|
<inertia ixx="0.01" ixy="0.00" ixz="0.00" iyy="0.01" iyz="0.00" izz="0.01"/>
|
|
</inertial>
|
|
<visual name="l_forearm_roll_visual"><!-- TODO: need a mesh for this -->
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="l_forearm_roll_visual_geom">
|
|
<mesh filename="package://pr2_defs/meshes/forearm_roll.stl"/>
|
|
</geometry>
|
|
|
|
<material name="RollLinks"/>
|
|
</visual>
|
|
<collision name="l_forearm_roll_collision"> <!-- TODO: collision tag should be optional -->
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="l_forearm_roll_collision_geom">
|
|
<box size="0.1 0.1 0.1"/>
|
|
</geometry>
|
|
</collision>
|
|
</link><joint name="l_forearm_joint" type="fixed">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<parent link="l_forearm_roll_link"/>
|
|
<child link="l_forearm_link"/>
|
|
</joint><link name="l_forearm_link">
|
|
|
|
<inertial>
|
|
<mass value="2.57968"/>
|
|
<origin xyz="0.18791 -0.00017 -0.00912"/>
|
|
<inertia ixx="0.00364857222" ixy="0.00005215877" ixz="0.00071534842" iyy="0.01507736897" iyz="-0.00001310770" izz="0.01659310749"/>
|
|
</inertial>
|
|
|
|
<visual name="l_forearm_visual">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="l_forearm_visual_geom">
|
|
<mesh filename="package://pr2_defs/meshes/forearm.stl"/>
|
|
</geometry>
|
|
|
|
<material name="Blue"/>
|
|
</visual>
|
|
|
|
<collision name="l_forearm_collision">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="l_forearm_collision_geom">
|
|
<mesh filename="package://pr2_defs/meshes/convex/forearm_convex.stlb"/>
|
|
</geometry>
|
|
</collision>
|
|
</link><joint name="l_wrist_flex_joint" type="revolute">
|
|
<axis xyz="0 -1 0"/>
|
|
<limit effort="200" lower="-0.1" upper="2.2" velocity="3.078"/>
|
|
<safety_controller k_position="20" k_velocity="4" soft_lower_limit="0.1" soft_upper_limit="2.0"/>
|
|
<dynamics damping="0.1"/>
|
|
<calibration reference_position="0.4363"/>
|
|
<origin rpy="0 0 0" xyz="0.32025 0 0"/>
|
|
<parent link="l_forearm_link"/>
|
|
<child link="l_wrist_flex_link"/>
|
|
</joint><link name="l_wrist_flex_link">
|
|
|
|
<inertial>
|
|
<mass value="0.61402"/>
|
|
<origin xyz="-0.00157 0.0 -0.00075"/>
|
|
<inertia ixx="0.00065165722" ixy="0.00000028864" ixz="0.00000303477" iyy="0.00019824443" iyz="-0.00000022645" izz="0.00064450498"/>
|
|
</inertial>
|
|
|
|
<visual name="l_wrist_flex_visual">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="l_wrist_flex_visual_geom">
|
|
<mesh filename="package://pr2_defs/meshes/wrist_flex.stl"/>
|
|
</geometry>
|
|
|
|
<material name="Grey"/>
|
|
</visual>
|
|
|
|
<collision name="l_wrist_flex_collision">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="l_wrist_flex_collision_geom">
|
|
<mesh filename="package://pr2_defs/meshes/convex/wrist_flex_convex.stlb"/>
|
|
</geometry>
|
|
</collision>
|
|
</link><joint name="l_wrist_roll_joint" type="continuous">
|
|
<axis xyz="1 0 0"/>
|
|
<limit effort="10" velocity="3.6"/>
|
|
<safety_controller k_velocity="2"/>
|
|
<dynamics damping="0.1"/>
|
|
<calibration reference_position="1.67" values="1.5 -1"/>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<parent link="l_wrist_flex_link"/>
|
|
<child link="l_wrist_roll_link"/>
|
|
</joint><link name="l_wrist_roll_link">
|
|
<inertial>
|
|
<!-- dummy masses, to be removed. wrist roll masses are on "gripper_palm" -->
|
|
<mass value="0.1"/>
|
|
<origin xyz="0 0 0"/>
|
|
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
|
|
</inertial>
|
|
<visual name="l_wrist_roll_visual">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="l_wrist_roll_visual_geom">
|
|
<mesh filename="package://pr2_defs/meshes/wrist_roll.stl"/>
|
|
</geometry>
|
|
|
|
<material name="RollLinks"/>
|
|
</visual>
|
|
<collision name="l_wrist_roll_collision">
|
|
<origin rpy="0 0 0" xyz="0.0 0 0"/>
|
|
<geometry name="l_wrist_roll_collision_geom">
|
|
<box size="0.01 0.01 0.01"/>
|
|
</geometry>
|
|
<verbose value="Yes"/>
|
|
</collision>
|
|
</link><gazebo reference="l_shoulder_pan_link">
|
|
<sensor:contact name="l_shoulder_pan_contact_sensor">
|
|
<geom>l_shoulder_pan_link_geom</geom>
|
|
<updateRate>100.0</updateRate>
|
|
<controller:ros_bumper name="l_shoulder_pan_ros_bumper_controller" plugin="libros_bumper.so">
|
|
<alwaysOn>true</alwaysOn>
|
|
<updateRate>100.0</updateRate>
|
|
<bumperTopicName>l_shoulder_pan_bumper</bumperTopicName>
|
|
<interface:bumper name="l_shoulder_pan_ros_bumper_iface"/>
|
|
</controller:ros_bumper>
|
|
</sensor:contact>
|
|
<material value="PR2/Blue"/>
|
|
<turnGravityOff>true</turnGravityOff>
|
|
</gazebo><gazebo reference="l_shoulder_pan_joint">
|
|
<stopKd value="1.0"/>
|
|
<stopKp value="1000000.0"/>
|
|
</gazebo><gazebo reference="l_shoulder_lift_link">
|
|
<sensor:contact name="l_shoulder_lift_contact_sensor">
|
|
<geom>l_shoulder_lift_link_geom</geom>
|
|
<updateRate>100.0</updateRate>
|
|
<controller:ros_bumper name="l_shoulder_lift_ros_bumper_controller" plugin="libros_bumper.so">
|
|
<alwaysOn>true</alwaysOn>
|
|
<updateRate>100.0</updateRate>
|
|
<bumperTopicName>l_r_shoulder_lift_bumper</bumperTopicName>
|
|
<interface:bumper name="l_shoulder_lift_ros_bumper_iface"/>
|
|
</controller:ros_bumper>
|
|
</sensor:contact>
|
|
<turnGravityOff>true</turnGravityOff>
|
|
</gazebo><gazebo reference="l_shoulder_lift_joint">
|
|
<stopKd value="1.0"/>
|
|
<stopKp value="1000000.0"/>
|
|
</gazebo><gazebo reference="l_upper_arm_roll_link">
|
|
<mesh value="/u/meeussen/ros/ros-pkg-svn/stacks/pr2_common/pr2_ogre/Media/models/upper_arm_roll.mesh"/>
|
|
<material value="PR2/RollLinks"/>
|
|
<turnGravityOff>true</turnGravityOff>
|
|
</gazebo><gazebo reference="l_upper_arm_roll_joint">
|
|
<stopKd value="1.0"/>
|
|
<stopKp value="1000000.0"/>
|
|
<fudgeFactor value="0.5"/>
|
|
</gazebo><gazebo reference="l_upper_arm_link">
|
|
<sensor:contact name="l_upper_arm_contact_sensor">
|
|
<geom>l_upper_arm_link_geom</geom><!-- TODO -->
|
|
<updateRate>100.0</updateRate>
|
|
<controller:ros_bumper name="l_upper_arm_ros_bumper_controller" plugin="libros_bumper.so">
|
|
<alwaysOn>true</alwaysOn>
|
|
<updateRate>100.0</updateRate>
|
|
<bumperTopicName>l_upper_arm_bumper</bumperTopicName>
|
|
<interface:bumper name="l_upper_arm_ros_bumper_iface"/>
|
|
</controller:ros_bumper>
|
|
</sensor:contact>
|
|
<turnGravityOff>true</turnGravityOff>
|
|
<material value="PR2/Green"/>
|
|
</gazebo><gazebo reference="l_elbow_flex_link">
|
|
<sensor:contact name="l_elbow_flex_contact_sensor">
|
|
<geom>l_elbow_flex_link_geom</geom>
|
|
<updateRate>100.0</updateRate>
|
|
<controller:ros_bumper name="l_elbow_flex_ros_bumper_controller" plugin="libros_bumper.so">
|
|
<alwaysOn>true</alwaysOn>
|
|
<updateRate>100.0</updateRate>
|
|
<bumperTopicName>l_elbow_flex_bumper</bumperTopicName>
|
|
<interface:bumper name="l_elbow_flex_ros_bumper_iface"/>
|
|
</controller:ros_bumper>
|
|
</sensor:contact>
|
|
<material value="PR2/Grey"/>
|
|
<turnGravityOff>true</turnGravityOff>
|
|
</gazebo><gazebo reference="l_elbow_flex_joint">
|
|
<stopKd value="1.0"/>
|
|
<stopKp value="1000000.0"/>
|
|
</gazebo><gazebo reference="l_forearm_roll_link">
|
|
<material value="PR2/RollLinks"/>
|
|
<turnGravityOff>true</turnGravityOff>
|
|
</gazebo><gazebo reference="l_forearm_roll_joint">
|
|
<fudgeFactor value="0.5"/>
|
|
</gazebo><gazebo reference="l_forearm_link">
|
|
<turnGravityOff>true</turnGravityOff>
|
|
<sensor:contact name="l_forearm_contact_sensor">
|
|
<geom>l_forearm_link_geom</geom>
|
|
<updateRate>100.0</updateRate>
|
|
<controller:ros_bumper name="l_forearm_ros_bumper_controller" plugin="libros_bumper.so">
|
|
<alwaysOn>true</alwaysOn>
|
|
<updateRate>100.0</updateRate>
|
|
<bumperTopicName>l_forearm_bumper</bumperTopicName>
|
|
<interface:bumper name="l_forearm_ros_bumper_iface"/>
|
|
</controller:ros_bumper>
|
|
</sensor:contact>
|
|
<material value="PR2/Blue"/>
|
|
</gazebo><gazebo reference="l_wrist_flex_link">
|
|
<turnGravityOff>true</turnGravityOff>
|
|
<sensor:contact name="l_wrist_flex_contact_sensor">
|
|
<geom>l_wrist_flex_link_geom</geom>
|
|
<updateRate>100.0</updateRate>
|
|
<controller:ros_bumper name="l_wrist_flex_ros_bumper_controller" plugin="libros_bumper.so">
|
|
<alwaysOn>true</alwaysOn>
|
|
<updateRate>100.0</updateRate>
|
|
<bumperTopicName>l_wrist_flex_bumper</bumperTopicName>
|
|
<interface:bumper name="l_wrist_flex_ros_bumper_iface"/>
|
|
</controller:ros_bumper>
|
|
</sensor:contact>
|
|
<material value="PR2/Grey"/>
|
|
</gazebo><gazebo reference="l_wrist_flex_joint">
|
|
<stopKd value="1.0"/>
|
|
<stopKp value="1000000.0"/>
|
|
</gazebo><gazebo reference="l_wrist_roll_link">
|
|
<turnGravityOff>true</turnGravityOff>
|
|
<sensor:contact name="l_wrist_roll_contact_sensor">
|
|
<geom>l_wrist_roll_link_geom</geom>
|
|
<updateRate>100.0</updateRate>
|
|
<controller:ros_bumper name="l_wrist_roll_ros_bumper_controller" plugin="libros_bumper.so">
|
|
<alwaysOn>true</alwaysOn>
|
|
<updateRate>100.0</updateRate>
|
|
<bumperTopicName>l_wrist_roll_bumper</bumperTopicName>
|
|
<interface:bumper name="l_wrist_roll_ros_bumper_iface"/>
|
|
</controller:ros_bumper>
|
|
</sensor:contact>
|
|
<material value="PR2/RollLinks"/>
|
|
</gazebo><gazebo reference="l_wrist_roll_joint">
|
|
<fudgeFactor value="0.5"/>
|
|
</gazebo><transmission name="l_shoulder_pan_trans" type="SimpleTransmission">
|
|
<actuator name="l_shoulder_pan_motor"/>
|
|
<joint name="l_shoulder_pan_joint"/>
|
|
<mechanicalReduction>63.16</mechanicalReduction>
|
|
</transmission><transmission name="l_shoulder_lift_trans" type="SimpleTransmission">
|
|
<actuator name="l_shoulder_lift_motor"/>
|
|
<joint name="l_shoulder_lift_joint"/>
|
|
<mechanicalReduction>61.89</mechanicalReduction>
|
|
</transmission><transmission name="l_upper_arm_roll_trans" type="SimpleTransmission">
|
|
<actuator name="l_upper_arm_roll_motor"/>
|
|
<joint name="l_upper_arm_roll_joint"/>
|
|
<mechanicalReduction>32.65</mechanicalReduction>
|
|
</transmission><transmission name="l_elbow_flex_trans" type="SimpleTransmission">
|
|
<actuator name="l_elbow_flex_motor"/>
|
|
<joint name="l_elbow_flex_joint"/>
|
|
<mechanicalReduction>-36.17</mechanicalReduction>
|
|
</transmission><transmission name="l_forearm_roll_trans" type="SimpleTransmission">
|
|
<actuator name="l_forearm_roll_motor"/>
|
|
<joint name="l_forearm_roll_joint"/>
|
|
<mechanicalReduction>90.5142857143</mechanicalReduction>
|
|
</transmission><transmission name="l_wrist_trans" type="WristTransmission">
|
|
<rightActuator name="l_wrist_r_motor"/>
|
|
<leftActuator name="l_wrist_l_motor"/>
|
|
<flexJoint mechanicalReduction="60.1714285714" name="l_wrist_flex_joint"/>
|
|
<rollJoint mechanicalReduction="60.1714285714" name="l_wrist_roll_joint"/>
|
|
</transmission>
|
|
<joint name="l_gripper_palm_joint" type="fixed">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<parent link="l_wrist_roll_link"/>
|
|
<child link="l_gripper_palm_link"/>
|
|
</joint><link name="l_gripper_palm_link">
|
|
<inertial>
|
|
<mass value="0.58007"/>
|
|
<origin rpy="0 0 0" xyz="0.06623 0.00053 -0.00119"/>
|
|
<inertia ixx="0.00035223921" ixy="-0.00001580476" ixz="-0.00000091750" iyy="0.00067741312" iyz="-0.00000059554" izz="0.00086563316"/>
|
|
</inertial>
|
|
|
|
<visual name="l_gripper_palm_visual">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="l_gripper_palm_visual_geom">
|
|
<mesh filename="package://pr2_defs/meshes/gripper_palm.stl"/>
|
|
</geometry>
|
|
|
|
<material name="Red"/>
|
|
</visual>
|
|
<collision name="l_gripper_palm_collision">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="l_gripper_palm_collision_geom">
|
|
<mesh filename="package://pr2_defs/meshes/convex/gripper_palm_convex.stlb"/>
|
|
</geometry>
|
|
<verbose value="Yes"/>
|
|
</collision>
|
|
</link><joint name="l_gripper_float_joint" type="prismatic">
|
|
<limit effort="10" lower="-0.05" upper="0.001" velocity="10"/>
|
|
<safety_controller soft_lower_limit="-0.05" soft_upper_limit="0.001"/>
|
|
<axis xyz="1 0 0"/>
|
|
<dynamics damping="10.0"/>
|
|
<origin rpy="0 0 0" xyz="0.05 0 0"/>
|
|
<parent link="l_gripper_palm_link"/>
|
|
<child link="l_gripper_float_link"/>
|
|
</joint><link name="l_gripper_float_link">
|
|
|
|
<inertial>
|
|
<mass value="0.01"/>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
|
|
</inertial>
|
|
<visual name="l_gripper_float_visual">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="l_gripper_float_visual_geom">
|
|
<box size="0.001 0.001 0.001"/>
|
|
</geometry>
|
|
|
|
<material name="White"/>
|
|
</visual>
|
|
<collision name="l_gripper_float_collision">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="l_gripper_float_collision_geom">
|
|
<box size="0.001 0.001 0.001"/>
|
|
</geometry>
|
|
<verbose value="Yes"/>
|
|
</collision>
|
|
</link><joint name="l_gripper_tool_joint" type="fixed">
|
|
<origin rpy="0 0 0" xyz="0.18 0 0"/>
|
|
<parent link="l_gripper_palm_link"/>
|
|
<child link="l_gripper_tool_frame"/>
|
|
</joint><link name="l_gripper_tool_frame">
|
|
|
|
<!-- TODO: all that follows is made-up and useless, but the old parser crashes without it -->
|
|
<inertial>
|
|
<mass value="0"/>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
|
</inertial>
|
|
<visual name="l_gripper_tool_visual">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="l_gripper_tool_visual_geom">
|
|
<box size="0.001 0.001 0.001"/>
|
|
</geometry>
|
|
|
|
<material name="Grey"/>
|
|
</visual>
|
|
<collision name="l_gripper_tool_collision">
|
|
<origin rpy="0 0 0" xyz="-0.1 0 0"/> <!-- move it out of the way -->
|
|
<geometry name="l_gripper_tool_collision_geom">
|
|
<box size="0.001 0.001 0.001"/>
|
|
</geometry>
|
|
</collision>
|
|
</link><joint name="l_gripper_l_finger_joint" type="revolute">
|
|
<axis xyz="0 0 1"/>
|
|
|
|
<limit effort="100.0" lower="0.0" upper="0.548" velocity="0.5"/><safety_controller k_position="100.0" k_velocity="100.0" soft_lower_limit="0.0" soft_upper_limit="0.548"/>
|
|
|
|
<dynamics damping="0.2"/>
|
|
<origin rpy="0 0 0" xyz="0.07691 0.01 0"/>
|
|
<parent link="l_gripper_palm_link"/>
|
|
<child link="l_gripper_l_finger_link"/>
|
|
</joint><link name="l_gripper_l_finger_link">
|
|
|
|
|
|
<inertial>
|
|
<mass value="0.17126"/>
|
|
<origin rpy="0 0 0" xyz="0.03598 0.01730 -0.00164"/>
|
|
<inertia ixx="0.00007756198" ixy="0.00000149095" ixz="-0.00000983385" iyy="0.00019708305" iyz="-0.00000306125" izz="0.00018105446"/>
|
|
</inertial>
|
|
<visual name="l_gripper_l_finger_visual">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="l_gripper_l_finger_visual_geom">
|
|
<mesh filename="package://pr2_defs/meshes/upper_finger_l.stl"/>
|
|
</geometry>
|
|
|
|
<material name="Grey"/>
|
|
</visual>
|
|
<collision name="l_gripper_l_finger_collision">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="l_gripper_l_finger_collision_geom">
|
|
<mesh filename="package://pr2_defs/meshes/convex/upper_finger_l_convex.stlb"/>
|
|
</geometry>
|
|
<verbose value="Yes"/>
|
|
</collision>
|
|
</link><joint name="l_gripper_r_finger_joint" type="revolute">
|
|
<axis xyz="0 0 -1"/>
|
|
<origin rpy="0 0 0" xyz="0.07691 -0.01 0"/>
|
|
<limit effort="100.0" lower="0.0" upper="0.548" velocity="0.5"/><safety_controller k_position="100.0" k_velocity="100.0" soft_lower_limit="0.0" soft_upper_limit="0.548"/>
|
|
<dynamics damping="0.2"/>
|
|
<mimic joint="l_gripper_l_finger_joint" multiplier="1" offset="0"/>
|
|
<parent link="l_gripper_palm_link"/>
|
|
<child link="l_gripper_r_finger_link"/>
|
|
</joint><link name="l_gripper_r_finger_link">
|
|
|
|
|
|
<inertial>
|
|
<mass value="0.17389"/>
|
|
<origin rpy="0 0 0" xyz="0.03576 -0.01736 -0.00095"/>
|
|
<inertia ixx="0.00007738410" ixy="-0.00000209309" ixz="-0.00000836228" iyy="0.00019847383" iyz="0.00000246110" izz="0.00018106988"/>
|
|
</inertial>
|
|
<visual name="l_gripper_r_finger_visual">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="l_gripper_r_finger_visual_geom">
|
|
<mesh filename="package://pr2_defs/meshes/upper_finger_r.stl"/>
|
|
</geometry>
|
|
|
|
<material name="Grey"/>
|
|
</visual>
|
|
<collision name="l_gripper_r_finger_collision">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="l_gripper_r_finger_collision_geom">
|
|
<mesh filename="package://pr2_defs/meshes/convex/upper_finger_r_convex.stlb"/>
|
|
</geometry>
|
|
<verbose value="Yes"/>
|
|
</collision>
|
|
</link><joint name="l_gripper_l_finger_tip_joint" type="revolute">
|
|
<axis xyz="0 0 -1"/>
|
|
<origin rpy="0 0 0" xyz="0.09137 0.00495 0"/>
|
|
<limit effort="100.0" lower="0.0" upper="0.548" velocity="0.5"/><safety_controller k_position="100.0" k_velocity="100.0" soft_lower_limit="0.0" soft_upper_limit="0.548"/>
|
|
<dynamics damping="0.01"/>
|
|
<mimic joint="l_gripper_l_finger_joint" multiplier="1" offset="0"/>
|
|
<parent link="l_gripper_l_finger_link"/>
|
|
<child link="l_gripper_l_finger_tip_link"/>
|
|
</joint><link name="l_gripper_l_finger_tip_link">
|
|
|
|
|
|
<inertial>
|
|
<mass value="0.04419"/>
|
|
<origin rpy="0 0 0" xyz="0.00423 0.00284 0.0"/>
|
|
<inertia ixx="0.00000837047" ixy="0.00000583632" ixz="0.0" iyy="0.00000987067" iyz="0.0" izz="0.00001541768"/>
|
|
</inertial>
|
|
<visual name="l_gripper_l_finger_tip_visual">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="l_gripper_l_finger_tip_visual_geom">
|
|
<mesh filename="package://pr2_defs/meshes/finger_tip_l.stl"/>
|
|
</geometry>
|
|
|
|
<material name="Green"/>
|
|
</visual>
|
|
<collision name="l_gripper_l_finger_tip_collision">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="l_gripper_l_finger_tip_collision_geom">
|
|
<mesh filename="package://pr2_defs/meshes/convex/finger_tip_l_convex.stlb"/>
|
|
</geometry>
|
|
<verbose value="Yes"/>
|
|
</collision>
|
|
</link><joint name="l_gripper_r_finger_tip_joint" type="revolute">
|
|
<axis xyz="0 0 1"/>
|
|
<origin rpy="0 0 0" xyz="0.09137 -0.00495 0"/>
|
|
<limit effort="100.0" lower="0.0" upper="0.548" velocity="0.5"/><safety_controller k_position="100.0" k_velocity="100.0" soft_lower_limit="0.0" soft_upper_limit="0.548"/>
|
|
<dynamics damping="0.01"/>
|
|
<mimic joint="l_gripper_l_finger_joint" multiplier="1" offset="0"/>
|
|
<parent link="l_gripper_r_finger_link"/>
|
|
<child link="l_gripper_r_finger_tip_link"/>
|
|
</joint><link name="l_gripper_r_finger_tip_link">
|
|
|
|
|
|
<inertial>
|
|
<mass value="0.04419"/>
|
|
<origin rpy="0 0 0" xyz="0.00423 -0.00284 0.0"/>
|
|
<inertia ixx="0.00000837047" ixy="-0.00000583632" ixz="0.0" iyy="0.00000987067" iyz="0.0" izz="0.00001541768"/>
|
|
</inertial>
|
|
<visual name="l_gripper_r_finger_tip_visual">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="l_gripper_r_finger_tip_visual_geom">
|
|
<mesh filename="package://pr2_defs/meshes/finger_tip_r.stl"/>
|
|
</geometry>
|
|
|
|
<material name="Green"/>
|
|
</visual>
|
|
<collision name="l_gripper_r_finger_tip_collision">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry name="l_gripper_r_finger_tip_collision_geom">
|
|
<mesh filename="package://pr2_defs/meshes/convex/finger_tip_r_convex.stlb"/>
|
|
</geometry>
|
|
<verbose value="Yes"/>
|
|
</collision>
|
|
</link><gazebo reference="l_gripper_l_finger_link">
|
|
<turnGravityOff>true</turnGravityOff>
|
|
<sensor:contact name="l_gripper_l_finger_contact_sensor">
|
|
<geom>l_gripper_l_finger_link_geom</geom>
|
|
<updateRate>100.0</updateRate>
|
|
<controller:ros_bumper name="l_gripper_l_finger_ros_bumper_controller" plugin="libros_bumper.so">
|
|
<alwaysOn>true</alwaysOn>
|
|
<updateRate>100.0</updateRate>
|
|
<bumperTopicName>l_gripper_l_finger_bumper</bumperTopicName>
|
|
<interface:bumper name="l_gripper_l_finger_ros_bumper_iface"/>
|
|
</controller:ros_bumper>
|
|
</sensor:contact>
|
|
<mu1 value="500.0"/>
|
|
<mu2 value="500.0"/>
|
|
<kp value="1000000.0"/>
|
|
<kd value="1.0"/>
|
|
<material value="PR2/Grey"/>
|
|
<!-- for "${prefix}_l_finger_joint"-->
|
|
</gazebo><gazebo reference="l_gripper_l_finger_joint">
|
|
<stopKd value="1.0"/>
|
|
<stopKp value="10000000.0"/>
|
|
<fudgeFactor value="1.0"/>
|
|
<provideFeedback value="true"/>
|
|
</gazebo><gazebo reference="l_gripper_r_finger_link">
|
|
<turnGravityOff>true</turnGravityOff>
|
|
<sensor:contact name="l_gripper_r_finger_contact_sensor">
|
|
<geom>l_gripper_r_finger_link_geom</geom>
|
|
<updateRate>100.0</updateRate>
|
|
<controller:ros_bumper name="l_gripper_r_finger_ros_bumper_controller" plugin="libros_bumper.so">
|
|
<alwaysOn>true</alwaysOn>
|
|
<updateRate>100.0</updateRate>
|
|
<bumperTopicName>l_gripper_r_finger_bumper</bumperTopicName>
|
|
<interface:bumper name="l_gripper_r_finger_ros_bumper_iface"/>
|
|
</controller:ros_bumper>
|
|
</sensor:contact>
|
|
<mu1 value="500.0"/>
|
|
<mu2 value="500.0"/>
|
|
<kp value="1000000.0"/>
|
|
<kd value="1.0"/>
|
|
<material value="PR2/Grey"/>
|
|
</gazebo><gazebo reference="l_gripper_r_finger_joint">
|
|
<stopKd value="1.0"/>
|
|
<stopKp value="10000000.0"/>
|
|
<fudgeFactor value="1.0"/>
|
|
<provideFeedback value="true"/>
|
|
</gazebo><gazebo reference="l_gripper_l_finger_tip_link">
|
|
<turnGravityOff>true</turnGravityOff>
|
|
<selfCollide value="false"/>
|
|
<sensor:contact name="l_gripper_l_finger_tip_contact_sensor">
|
|
<geom>l_gripper_l_finger_tip_link_geom</geom>
|
|
<updateRate>100.0</updateRate>
|
|
<controller:ros_bumper name="l_gripper_l_finger_tip_ros_bumper_controller" plugin="libros_bumper.so">
|
|
<alwaysOn>true</alwaysOn>
|
|
<updateRate>100.0</updateRate>
|
|
<bumperTopicName>l_gripper_l_finger_tip_bumper</bumperTopicName>
|
|
<interface:bumper name="l_gripper_l_finger_tip_ros_bumper_iface"/>
|
|
</controller:ros_bumper>
|
|
</sensor:contact>
|
|
<mu1 value="500.0"/>
|
|
<mu2 value="500.0"/>
|
|
<kp value="10000000.0"/>
|
|
<kd value="1.0"/>
|
|
<material value="PR2/Green"/>
|
|
</gazebo><gazebo reference="l_gripper_l_finger_tip_joint">
|
|
<stopKd value="1.0"/>
|
|
<stopKp value="10000000.0"/>
|
|
<fudgeFactor value="1.0"/>
|
|
<provideFeedback value="true"/>
|
|
</gazebo><gazebo reference="l_gripper_r_finger_tip_link">
|
|
<turnGravityOff>true</turnGravityOff>
|
|
<selfCollide value="false"/>
|
|
<sensor:contact name="l_gripper_r_finger_tip_contact_sensor">
|
|
<geom>l_gripper_r_finger_tip_link_geom</geom>
|
|
<updateRate>100.0</updateRate>
|
|
<controller:ros_bumper name="l_gripper_r_finger_tip_ros_bumper_controller" plugin="libros_bumper.so">
|
|
<alwaysOn>true</alwaysOn>
|
|
<updateRate>100.0</updateRate>
|
|
<bumperTopicName>l_gripper_r_finger_tip_bumper</bumperTopicName>
|
|
<interface:bumper name="l_gripper_r_finger_tip_ros_bumper_iface"/>
|
|
</controller:ros_bumper>
|
|
</sensor:contact>
|
|
<mu1 value="500.0"/>
|
|
<mu2 value="500.0"/>
|
|
<kp value="10000000.0"/>
|
|
<kd value="1.0"/>
|
|
<material value="PR2/Green"/>
|
|
</gazebo><gazebo>
|
|
<controller:ros_p3d name="p3d_l_gripper_l_finger_controller" plugin="libros_p3d.so">
|
|
<alwaysOn>true</alwaysOn>
|
|
<updateRate>100.0</updateRate>
|
|
<bodyName>l_gripper_l_finger_link</bodyName>
|
|
<topicName>l_gripper_l_finger_pose_ground_truth</topicName>
|
|
<gaussianNoise>0.0</gaussianNoise>
|
|
<frameName>map</frameName>
|
|
<interface:position name="p3d_l_gripper_l_finger_position_iface"/>
|
|
</controller:ros_p3d>
|
|
<controller:ros_f3d name="f3d_l_gripper_l_finger_controller" plugin="libros_f3d.so">
|
|
<alwaysOn>true</alwaysOn>
|
|
<updateRate>100.0</updateRate>
|
|
<bodyName>l_gripper_l_finger_link</bodyName>
|
|
<topicName>l_gripper_l_finger_force_ground_truth</topicName>
|
|
<frameName>l_gripper_l_finger_link</frameName>
|
|
<interface:position name="f3d_l_gripper_l_finger_force_iface"/>
|
|
</controller:ros_f3d>
|
|
</gazebo><gazebo reference="l_gripper_r_finger_tip_joint">
|
|
<stopKd value="1.0"/>
|
|
<stopKp value="10000000.0"/>
|
|
<fudgeFactor value="1.0"/>
|
|
<provideFeedback value="true"/>
|
|
</gazebo><joint name="l_gripper_joint" type="prismatic">
|
|
<axis xyz="0 0 1"/>
|
|
<limit effort="100.0" lower="0.0" upper="0.09" velocity="0.2"/>
|
|
<safety_controller k_position="20.0" k_velocity="500.0" soft_lower_limit="0.0" soft_upper_limit="0.089"/>
|
|
</joint><gazebo reference="l_gripper_palm_link">
|
|
<turnGravityOff>true</turnGravityOff>
|
|
<sensor:contact name="l_gripper_palm_contact_sensor">
|
|
<geom>l_gripper_palm_link_geom</geom>
|
|
<updateRate>100.0</updateRate>
|
|
<controller:ros_bumper name="l_gripper_palm_ros_bumper_controller" plugin="libros_bumper.so">
|
|
<alwaysOn>true</alwaysOn>
|
|
<updateRate>100.0</updateRate>
|
|
<bumperTopicName>l_gripper_palm_bumper</bumperTopicName>
|
|
<interface:bumper name="l_gripper_palm_ros_bumper_iface"/>
|
|
</controller:ros_bumper>
|
|
</sensor:contact>
|
|
<material value="PR2/Red"/>
|
|
</gazebo><gazebo reference="l_gripper_float_link">
|
|
<turnGravityOff>true</turnGravityOff>
|
|
<material value="PR2/White"/>
|
|
</gazebo><gazebo>
|
|
<joint:slider name="l_gripper_l_finger_tip_slider_joint">
|
|
<body1>l_gripper_l_finger_tip_link</body1>
|
|
<body2>l_gripper_float_link</body2>
|
|
<anchor>l_gripper_l_finger_tip_link</anchor>
|
|
<axis>0 1 0</axis>
|
|
<anchorOffset>0 0 0</anchorOffset>
|
|
</joint:slider>
|
|
<joint:slider name="l_gripper_r_finger_tip_slider_joint">
|
|
<body1>l_gripper_r_finger_tip_link</body1>
|
|
<body2>l_gripper_float_link</body2>
|
|
<anchor>l_gripper_r_finger_tip_link</anchor>
|
|
<axis>0 1 0</axis>
|
|
<anchorOffset>0 0 0</anchorOffset>
|
|
</joint:slider>
|
|
<!--
|
|
<joint:slider name="${side}_gripper_finger_tip_slider_joint">
|
|
<body1>${side}_gripper_l_finger_tip_link</body1>
|
|
<body2>${side}_gripper_r_finger_tip_link</body2>
|
|
<anchor>${side}_gripper_l_finger_tip_link</anchor>
|
|
<axis>0 1 0</axis>
|
|
<anchorOffset>0 0 0</anchorOffset>
|
|
<lowStop>0.0</lowStop>
|
|
<highStop>0.08</highStop>
|
|
</joint:slider>
|
|
-->
|
|
</gazebo><gazebo>
|
|
<controller:ros_p3d name="p3d_l_gripper_palm_controller" plugin="libros_p3d.so">
|
|
<alwaysOn>true</alwaysOn>
|
|
<updateRate>100.0</updateRate>
|
|
<bodyName>l_gripper_palm_link</bodyName>
|
|
<topicName>l_gripper_palm_pose_ground_truth</topicName>
|
|
<xyzOffsets>0 0 0</xyzOffsets>
|
|
<rpyOffsets>0 0 0</rpyOffsets>
|
|
<gaussianNoise>0.0</gaussianNoise>
|
|
<frameName>map</frameName>
|
|
<interface:position name="p3d_l_gripper_palm_position_iface"/>
|
|
</controller:ros_p3d>
|
|
</gazebo><gazebo reference="l_gripper_tool_link">
|
|
<turnGravityOff>true</turnGravityOff>
|
|
<material value="PR2/Grey"/>
|
|
</gazebo><transmission name="l_gripper_trans" type="PR2GripperTransmission">
|
|
<actuator name="l_gripper_motor"/>
|
|
<gap_joint gear_ratio="29.16" mechanical_reduction="1.0" name="l_gripper_joint" screw_reduction="0.002"/>
|
|
<passive_joint name="l_gripper_l_finger_joint"/>
|
|
<passive_joint name="l_gripper_r_finger_joint"/>
|
|
<passive_joint name="l_gripper_r_finger_tip_joint"/>
|
|
<passive_joint name="l_gripper_l_finger_tip_joint"/>
|
|
</transmission>
|
|
|
|
<!-- Kinematic chains -->
|
|
<chain root="torso_lift_link" tip="l_wrist_roll_link"/>
|
|
<chain root="torso_lift_link" tip="r_wrist_roll_link"/>
|
|
|
|
</robot>
|