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ddonatien/panda_arm.urdf

Created November 5, 2020 22:46
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Panda arm urdf generated from franka_description by xacro
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panda_arm.urdf
<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from /opt/ros/noetic/share/franka_description/robots/panda_arm.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="panda">
<link name="panda_link0">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/link0.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 1.5707963267948966 0" xyz="-0.075 0 0.06"/>
<geometry>
<cylinder length="0.03" radius="0.09"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="-0.06 0 0.06"/>
<geometry>
<sphere radius="0.09"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="-0.09 0 0.06"/>
<geometry>
<sphere radius="0.09"/>
</geometry>
</collision>
</link>
<link name="panda_link1">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/link1.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.1915"/>
<geometry>
<cylinder length="0.2830" radius="0.09"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.333"/>
<geometry>
<sphere radius="0.09"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.05"/>
<geometry>
<sphere radius="0.09"/>
</geometry>
</collision>
</link>
<joint name="panda_joint1" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
<origin rpy="0 0 0" xyz="0 0 0.333"/>
<parent link="panda_link0"/>
<child link="panda_link1"/>
<axis xyz="0 0 1"/>
<limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
</joint>
<link name="panda_link2">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/link2.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.12" radius="0.09"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.06"/>
<geometry>
<sphere radius="0.09"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.06"/>
<geometry>
<sphere radius="0.09"/>
</geometry>
</collision>
</link>
<joint name="panda_joint2" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"/>
<origin rpy="-1.5707963267948966 0 0" xyz="0 0 0"/>
<parent link="panda_link1"/>
<child link="panda_link2"/>
<axis xyz="0 0 1"/>
<limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750"/>
</joint>
<link name="panda_link3">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/link3.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.145"/>
<geometry>
<cylinder length="0.15" radius="0.09"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.22"/>
<geometry>
<sphere radius="0.09"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.07"/>
<geometry>
<sphere radius="0.09"/>
</geometry>
</collision>
</link>
<joint name="panda_joint3" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
<origin rpy="1.5707963267948966 0 0" xyz="0 -0.316 0"/>
<parent link="panda_link2"/>
<child link="panda_link3"/>
<axis xyz="0 0 1"/>
<limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
</joint>
<link name="panda_link4">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/link4.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.12" radius="0.09"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.06"/>
<geometry>
<sphere radius="0.09"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.06"/>
<geometry>
<sphere radius="0.09"/>
</geometry>
</collision>
</link>
<joint name="panda_joint4" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698"/>
<origin rpy="1.5707963267948966 0 0" xyz="0.0825 0 0"/>
<parent link="panda_link3"/>
<child link="panda_link4"/>
<axis xyz="0 0 1"/>
<limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750"/>
</joint>
<link name="panda_link5">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/link5.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.26"/>
<geometry>
<cylinder length="0.1" radius="0.09"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.31"/>
<geometry>
<sphere radius="0.09"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.21"/>
<geometry>
<sphere radius="0.09"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 0.08 -0.13"/>
<geometry>
<cylinder length="0.14" radius="0.055"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 0.08 -0.06"/>
<geometry>
<sphere radius="0.055"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 0.08 -0.20"/>
<geometry>
<sphere radius="0.055"/>
</geometry>
</collision>
</link>
<joint name="panda_joint5" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
<origin rpy="-1.5707963267948966 0 0" xyz="-0.0825 0.384 0"/>
<parent link="panda_link4"/>
<child link="panda_link5"/>
<axis xyz="0 0 1"/>
<limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
</joint>
<link name="panda_link6">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/link6.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.03"/>
<geometry>
<cylinder length="0.08" radius="0.08"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.01"/>
<geometry>
<sphere radius="0.08"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.07"/>
<geometry>
<sphere radius="0.08"/>
</geometry>
</collision>
</link>
<joint name="panda_joint6" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"/>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<parent link="panda_link5"/>
<child link="panda_link6"/>
<axis xyz="0 0 1"/>
<limit effort="12" lower="-0.0175" upper="3.7525" velocity="2.6100"/>
</joint>
<link name="panda_link7">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/link7.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.01"/>
<geometry>
<cylinder length="0.14" radius="0.07"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.08"/>
<geometry>
<sphere radius="0.07"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.06"/>
<geometry>
<sphere radius="0.07"/>
</geometry>
</collision>
</link>
<joint name="panda_joint7" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
<origin rpy="1.5707963267948966 0 0" xyz="0.088 0 0"/>
<parent link="panda_link6"/>
<child link="panda_link7"/>
<axis xyz="0 0 1"/>
<limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
</joint>
<link name="panda_link8">
<collision>
<origin rpy="3.141592653589793 1.5707963267948966 1.5707963267948966" xyz="0.0424 0.0424 -0.0250"/>
<geometry>
<cylinder length="0.01" radius="0.06"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0.0424 0.0424 -0.02"/>
<geometry>
<sphere radius="0.06"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0.0424 0.0424 -0.03"/>
<geometry>
<sphere radius="0.06"/>
</geometry>
</collision>
</link>
<joint name="panda_joint8" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.107"/>
<parent link="panda_link7"/>
<child link="panda_link8"/>
</joint>
</robot>
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