Skip to content

Instantly share code, notes, and snippets.

@cohnt

cohnt/box_small.urdf

Last active March 26, 2024 01:20
Show Gist options

  • Select an option

    Learn more about clone URLs
  • Save cohnt/f720c21caf07f7daf3313724e2db1676 to your computer and use it in GitHub Desktop.

Select an option

Learn more about clone URLs
Save cohnt/f720c21caf07f7daf3313724e2db1676 to your computer and use it in GitHub Desktop.
Download ZIP
PointOnBoxSurfaceHelper Failure Reproduction
Raw
box_small.urdf
<?xml version="1.0"?>
<robot name="box_scene">
<material name="Blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="Red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="Green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<material name="Gray">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
<material name="li">
<color rgba="0.5 0.5 0.5 1.0"/>
</material>
<link name="base"/>
<link name="box1">
<collision>
<origin xyz="0 0 .0" rpy="0 0 0"/>
<geometry>
<box size="0.4 0.1 2.1"/>
</geometry>
</collision>
<visual>
<origin xyz="0 0 .0" rpy="0 0 0"/>
<geometry>
<box size="0.4 0.1 2.1"/>
</geometry>
<material name="Gray"/>
</visual>
</link>
<link name="box2">
<collision>
<origin xyz="0 0 .0" rpy="0 0 0"/>
<geometry>
<box size="0.4 0.1 1.5"/>
</geometry>
</collision>
<visual>
<origin xyz="0 0 .0" rpy="0 0 0"/>
<geometry>
<box size="0.4 0.1 1.5"/>
</geometry>
<material name="Gray"/>
</visual>
</link>
<link name="box3">
<collision>
<origin xyz="0 0 .0" rpy="0 0 0"/>
<geometry>
<box size="0.4 0.1 2.1"/>
</geometry>
</collision>
<visual>
<origin xyz="0 0 .0" rpy="0 0 0"/>
<geometry>
<box size="0.4 0.1 2.1"/>
</geometry>
<material name="Gray"/>
</visual>
</link>
<link name="box4">
<collision>
<origin xyz="0 0 .0" rpy="0 0 0"/>
<geometry>
<box size="0.4 0.1 1.5"/>
</geometry>
</collision>
<visual>
<origin xyz="0 0 .0" rpy="0 0 0"/>
<geometry>
<box size="0.4 0.1 1.5"/>
</geometry>
<material name="Gray"/>
</visual>
</link>
<joint name="jbox1" type="fixed">
<origin rpy="1.5707 0 0" xyz="0 0 -0.05"/>
<parent link="base"/>
<child link="box1"/>
</joint>
<joint name="jbox2" type="fixed">
<origin rpy="0 0 0" xyz="0 1.0 .75"/>
<parent link="base"/>
<child link="box2"/>
</joint>
<joint name="jbox3" type="fixed">
<origin rpy="1.5707 0 0" xyz="0 0 1.55"/>
<parent link="base"/>
<child link="box3"/>
</joint>
<joint name="jbox4" type="fixed">
<origin rpy="0 0 0" xyz="0 -1 .75"/>
<parent link="base"/>
<child link="box4"/>
</joint>
</robot>
Raw
oneDOF_iiwa7_with_box_collision.sdf
<?xml version="1.0"?>
<sdf version="1.7">
<model name="iiwa7_oneDOF">
<link name="iiwa_oneDOF_link_0">
<inertial>
<pose>-0.013 0 0.07 0 0 0</pose>
<mass>3.863</mass>
<inertia>
<ixx>0.0141</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0171</iyy>
<iyz>0</iyz>
<izz>0.0178</izz>
</inertia>
</inertial>
<visual name="iiwa_oneDOF_link_0_visual">
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>package://drake_models/iiwa_description/meshes/iiwa7/visual/link_0.obj</uri>
</mesh>
</geometry>
<material>
<diffuse>0.4 0.4 0.4 1.0</diffuse>
</material>
</visual>
<collision name="iiwa_oneDOF_link_0_collision">
<pose>-0.004563 0 0.07875 0 0 0</pose>
<geometry>
<box>
<size>0.216874 0.207874 0.1575</size>
</box>
</geometry>
</collision>
<gravity>1</gravity>
<!-- <self_collide>0</self_collide> -->
</link>
<link name="iiwa_oneDOF_link_1">
<pose>0 0 0.1575 0 0 0</pose>
<inertial>
<pose>0 -0.0347 0.113 0 0 0</pose>
<mass>2.7025</mass>
<inertia>
<ixx>0.0171</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0163</iyy>
<iyz>0</iyz>
<izz>0.006</izz>
</inertia>
</inertial>
<visual name="iiwa_oneDOF_link_1_visual">
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>package://drake_models/iiwa_description/meshes/iiwa7/visual/link_1.obj</uri>
</mesh>
</geometry>
<material>
<diffuse>0.4 0.4 0.4 1.0</diffuse>
</material>
</visual>
<collision name="iiwa_oneDOF_link_1_collision">
<pose>0 -0.023301 0.127997 0 0 0</pose>
<geometry>
<box>
<size>0.13596 0.182584 0.260995</size>
</box>
</geometry>
</collision>
<gravity>1</gravity>
<!-- <self_collide>0</self_collide> -->
</link>
<joint name="iiwa_joint_1" type="fixed">
<child>iiwa_oneDOF_link_1</child>
<parent>iiwa_oneDOF_link_0</parent>
<axis>
<xyz expressed_in="__model__">0 0 1</xyz>
<limit>
<lower>-2.96706</lower>
<upper>2.96706</upper>
<effort>300</effort>
<velocity>10</velocity>
</limit>
<dynamics>
<damping>0.0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<link name="iiwa_oneDOF_link_2">
<pose>0 0 0.3405 1.5708 0 -3.14159</pose>
<inertial>
<pose>0.000 0.0668 0.0344 0 0 0</pose>
<mass>2.7258</mass>
<inertia>
<ixx>0.0170</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0162</iyy>
<iyz>0</iyz>
<izz>0.0061</izz>
</inertia>
</inertial>
<visual name="iiwa_oneDOF_link_2_visual">
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>package://drake_models/iiwa_description/meshes/iiwa7/visual/link_2.obj</uri>
</mesh>
</geometry>
<material>
<diffuse>1.0 0.423529411765 0.0392156862745 1.0</diffuse>
</material>
</visual>
<collision name="iiwa_oneDOF_link_2_collision">
<pose>0 0.0580045 0.0173035 0 0 0</pose>
<geometry>
<box>
<size>0.135988 0.251991 0.182605</size>
</box>
</geometry>
</collision>
<gravity>1</gravity>
<!-- <self_collide>0</self_collide> -->
</link>
<joint name="iiwa_joint_2" type="revolute">
<child>iiwa_oneDOF_link_2</child>
<parent>iiwa_oneDOF_link_1</parent>
<axis>
<xyz expressed_in="__model__">-0 1 0</xyz>
<limit>
<lower>-2.0944</lower>
<upper>2.0944</upper>
<effort>300</effort>
<velocity>10</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<link name="iiwa_oneDOF_link_3">
<pose>0 0 0.5245 0 0 0</pose>
<inertial>
<pose>0 0.0296 0.1265 0 0 0</pose>
<mass>3.175</mass>
<inertia>
<ixx>0.025</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0238</iyy>
<iyz>0</iyz>
<izz>0.0076</izz>
</inertia>
</inertial>
<visual name="iiwa_oneDOF_link_3_visual">
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>package://drake_models/iiwa_description/meshes/iiwa7/visual/link_3.obj</uri>
</mesh>
</geometry>
<material>
<diffuse>1.0 0.423529411765 0.0392156862745 1.0</diffuse>
</material>
</visual>
<collision name="iiwa_oneDOF_link_3_collision">
<pose>0 0.0182965 0.11073 0 0 0</pose>
<geometry>
<box>
<size>0.135987 0.182593 0.29346</size>
</box>
</geometry>
</collision>
<gravity>1</gravity>
<!-- <self_collide>0</self_collide> -->
</link>
<joint name="iiwa_joint_3" type="fixed">
<child>iiwa_oneDOF_link_3</child>
<parent>iiwa_oneDOF_link_2</parent>
<axis>
<xyz expressed_in="__model__">0 0 1</xyz>
<limit>
<lower>-2.96706</lower>
<upper>2.96706</upper>
<effort>300</effort>
<velocity>10</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<link name="iiwa_oneDOF_link_4">
<pose>0 0 0.74 1.5708 0 0</pose>
<inertial>
<pose>0 0.067 0.034 0 0 0</pose>
<mass>2.73</mass>
<inertia>
<ixx>0.017</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0162</iyy>
<iyz>0</iyz>
<izz>0.0061</izz>
</inertia>
</inertial>
<visual name="iiwa_oneDOF_link_4_visual">
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>package://drake_models/iiwa_description/meshes/iiwa7/visual/link_4.obj</uri>
</mesh>
</geometry>
<material>
<diffuse>1.0 0.423529411765 0.0392156862745 1.0</diffuse>
</material>
</visual>
<collision name="iiwa_oneDOF_link_4_collision">
<pose>0 0.0580045 0.0233035 0 0 0</pose>
<geometry>
<box>
<size>0.135988 0.251991 0.182605</size>
</box>
</geometry>
</collision>
<gravity>1</gravity>
<!-- <self_collide>0</self_collide> -->
</link>
<joint name="iiwa_joint_4" type="fixed">
<child>iiwa_oneDOF_link_4</child>
<parent>iiwa_oneDOF_link_3</parent>
<axis>
<xyz expressed_in="__model__">0 -1 0</xyz>
<limit>
<lower>-2.0944</lower>
<upper>2.0944</upper>
<effort>300</effort>
<velocity>10</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<link name="iiwa_oneDOF_link_5">
<pose>0 0 0.924 0 0 -3.14159</pose>
<inertial>
<pose>0.0001 0.021 0.076 0 0 0</pose>
<mass>1.69</mass>
<inertia>
<ixx>0.01</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0087</iyy>
<iyz>0</iyz>
<izz>0.00449</izz>
</inertia>
</inertial>
<visual name="iiwa_oneDOF_link_5_visual">
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>package://drake_models/iiwa_description/meshes/iiwa7/visual/link_5.obj</uri>
</mesh>
</geometry>
<material>
<diffuse>1.0 0.423529411765 0.0392156862745 1.0</diffuse>
</material>
</visual>
<collision name="iiwa_oneDOF_link_5_collision">
<pose>0 0.015546 0.102458 0 0 0</pose>
<geometry>
<box>
<size>0.135999 0.167092 0.276916</size>
</box>
</geometry>
</collision>
<gravity>1</gravity>
<!-- <self_collide>0</self_collide> -->
</link>
<joint name="iiwa_joint_5" type="fixed">
<child>iiwa_oneDOF_link_5</child>
<parent>iiwa_oneDOF_link_4</parent>
<axis>
<xyz expressed_in="__model__">0 0 1</xyz>
<limit>
<lower>-2.96706</lower>
<upper>2.96706</upper>
<effort>300</effort>
<velocity>10</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<link name="iiwa_oneDOF_link_6">
<pose>0 0 1.1395 1.5708 0 -3.14159</pose>
<inertial>
<pose>0 0.0026 0.0005 0 0 0</pose>
<mass>1.8</mass>
<inertia>
<ixx>0.0051</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0049</iyy>
<iyz>0</iyz>
<izz>0.0035</izz>
</inertia>
</inertial>
<visual name="iiwa_oneDOF_link_6_visual">
<pose>0 0 -0.060700 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>package://drake_models/iiwa_description/meshes/iiwa7/visual/link_6.obj</uri>
</mesh>
</geometry>
<material>
<diffuse>1.0 0.423529411765 0.0392156862745 1.0</diffuse>
</material>
</visual>
<collision name="iiwa_oneDOF_link_6_collision">
<geometry>
<box>
<size>0.132334 0.177387 0.137409</size>
</box>
</geometry>
</collision>
<gravity>1</gravity>
<!-- <self_collide>0</self_collide> -->
</link>
<joint name="iiwa_joint_6" type="fixed">
<child>iiwa_oneDOF_link_6</child>
<parent>iiwa_oneDOF_link_5</parent>
<axis>
<xyz expressed_in="__model__">-0 1 -0</xyz>
<limit>
<lower>-2.0944</lower>
<upper>2.0944</upper>
<effort>300</effort>
<velocity>10</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<link name="iiwa_oneDOF_link_7">
<pose>0 0 1.22 0 0 0</pose>
<inertial>
<pose>0 0 0.0294 0 0 0</pose>
<mass>.4</mass>
<inertia>
<ixx>0.0004</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0004</iyy>
<iyz>0</iyz>
<izz>0.0005</izz>
</inertia>
</inertial>
<visual name="iiwa_oneDOF_link_7_visual">
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>package://drake_models/iiwa_description/meshes/iiwa7/visual/link_7.obj</uri>
</mesh>
</geometry>
<material>
<diffuse>1.0 0.423529411765 0.0392156862745 1.0</diffuse>
</material>
</visual>
<collision name="iiwa_oneDOF_link_7_collision">
<pose>0 0 0.021997 0 0 0</pose>
<geometry>
<box>
<size>0.10385 0.103885 0.045</size>
</box>
</geometry>
</collision>
<gravity>1</gravity>
<!-- <self_collide>0</self_collide> -->
</link>
<joint name="iiwa_joint_7" type="fixed">
<child>iiwa_oneDOF_link_7</child>
<parent>iiwa_oneDOF_link_6</parent>
<axis>
<xyz expressed_in="__model__">0 0 1</xyz>
<limit>
<lower>-3.05433</lower>
<upper>3.05433</upper>
<effort>300</effort>
<velocity>10</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<static>0</static>
<!-- <plugin name="gazebo_ros_controller" filename="libgazebo_ros_control.so">
<robotNamespace>/iiwa</robotNamespace>
</plugin> -->
</model>
</sdf>
Raw
tmp.py
from functools import partial
from pydrake.all import (StartMeshcat,
RobotDiagramBuilder,
MeshcatVisualizer,
LoadModelDirectives,
ProcessModelDirectives,
RigidTransform,
RotationMatrix,
MeshcatVisualizerParams,
Role,
RollPitchYaw,
Meldis,
AddDefaultVisualization,
Box,
GeometrySet
)
import numpy as np
import os
def plant_builder_3dof_flipper(usemeshcat = False):
meshcat = StartMeshcat()
builder = RobotDiagramBuilder()
plant = builder.plant()
scene_graph = builder.scene_graph()
parser = builder.parser()
parser.SetAutoRenaming(True)
path_repo = os.path.dirname(os.path.abspath(__file__))
# plant, scene_graph = AddMultibodyPlantSceneGraph(builder, time_step=0.001)
# parser = Parser(plant)
rel_path = path_repo
oneDOF_iiwa_asset = rel_path + "/oneDOF_iiwa7_with_box_collision.sdf"#FindResourceOrThrow("drake/C_Iris_Examples/assets/oneDOF_iiwa7_with_box_collision.sdf")
twoDOF_iiwa_asset = rel_path + "/twoDOF_iiwa7_with_box_collision.sdf"#FindResourceOrThrow("drake/C_Iris_Examples/assets/twoDOF_iiwa7_with_box_collision.sdf")
box_asset = rel_path + "/box_small.urdf" #FindResourceOrThrow("drake/C_Iris_Examples/assets/box_small.urdf")
print(box_asset)
models = []
models.append(parser.AddModels(box_asset)[0])
models.append(parser.AddModels(twoDOF_iiwa_asset)[0])
models.append(parser.AddModels(oneDOF_iiwa_asset)[0])
locs = [[0.,0.,0.],
[0.,.55,0.],
[0.,-.55,0.]]
plant.WeldFrames(plant.world_frame(),
plant.GetFrameByName("base", models[0]),
RigidTransform(locs[0]))
plant.WeldFrames(plant.world_frame(),
plant.GetFrameByName("iiwa_twoDOF_link_0", models[1]),
RigidTransform(RollPitchYaw([0,0, -np.pi/2]).ToRotationMatrix(), locs[1]))
plant.WeldFrames(plant.world_frame(),
plant.GetFrameByName("iiwa_oneDOF_link_0", models[2]),
RigidTransform(RollPitchYaw([0,0, -np.pi/2]).ToRotationMatrix(), locs[2]))
plant.Finalize()
inspector = scene_graph.model_inspector()
meshcat_params = MeshcatVisualizerParams()
meshcat_params.role = Role.kIllustration
visualizer = MeshcatVisualizer.AddToBuilder(
builder.builder(), scene_graph, meshcat, meshcat_params)
# X_WC = RigidTransform(RollPitchYaw(0,0,0),np.array([5, 4, 2]) ) # some drake.RigidTransform()
# meshcat.SetTransform("/Cameras/default", X_WC)
# meshcat.SetProperty("/Background", "top_color", [0.8, 0.8, 0.6])
# meshcat.SetProperty("/Background", "bottom_color",
# [0.9, 0.9, 0.9])
diagram = builder.Build()
diagram_context = diagram.CreateDefaultContext()
plant_context = plant.GetMyMutableContextFromRoot(diagram_context)
diagram.ForcedPublish(diagram_context)
print(meshcat.web_url())
return plant, scene_graph, diagram, diagram_context, plant_context, meshcat if usemeshcat else None
plant, scene_graph, diagram, diagram_context, plant_context, meshcat = plant_builder_3dof_flipper(usemeshcat = True)
pos = np.array([-0.438428242186379, -2.0944, -1.35135973487098])
plant.SetPositions(plant_context, pos)
query_object = plant.get_geometry_query_input_port().Eval(plant_context);
inspector = query_object.inspector()
all_geom_ids = inspector.GetGeometryIds(GeometrySet(inspector.GetAllGeometryIds()), Role.kProximity)
geomAName = "iiwa7_twoDOF::iiwa_twoDOF_link_5"
geomBName = "iiwa7_oneDOF::iiwa_oneDOF_link_6"
for geom_id in all_geom_ids:
if inspector.GetName(inspector.GetFrameId(geom_id)) == geomAName:
geomA = geom_id
if inspector.GetName(inspector.GetFrameId(geom_id)) == geomBName:
geomB = geom_id
query_object.ComputeSignedDistancePairClosestPoints(geomA, geomB)
Raw
twoDOF_iiwa7_with_box_collision.sdf
<?xml version="1.0"?>
<sdf version="1.7">
<model name="iiwa7_twoDOF">
<link name="iiwa_twoDOF_link_0">
<inertial>
<pose>-0.013 0 0.07 0 0 0</pose>
<mass>3.863</mass>
<inertia>
<ixx>0.0141</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0171</iyy>
<iyz>0</iyz>
<izz>0.0178</izz>
</inertia>
</inertial>
<visual name="iiwa_twoDOF_link_0_visual">
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>package://drake_models/iiwa_description/meshes/iiwa7/visual/link_0.obj</uri>
</mesh>
</geometry>
<material>
<diffuse>0.4 0.4 0.4 1.0</diffuse>
</material>
</visual>
<collision name="iiwa_twoDOF_link_0_collision">
<pose>-0.004563 0 0.07875 0 0 0</pose>
<geometry>
<box>
<size>0.216874 0.207874 0.1575</size>
</box>
</geometry>
</collision>
<gravity>1</gravity>
<!-- <velocity_decay/> -->
<!-- <self_collide>0</self_collide> -->
</link>
<link name="iiwa_twoDOF_link_1">
<pose>0 0 0.1575 0 0 0</pose>
<inertial>
<pose>0 -0.0347 0.113 0 0 0</pose>
<mass>2.7025</mass>
<inertia>
<ixx>0.0171</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0163</iyy>
<iyz>0</iyz>
<izz>0.006</izz>
</inertia>
</inertial>
<visual name="iiwa_twoDOF_link_1_visual">
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>package://drake_models/iiwa_description/meshes/iiwa7/visual/link_1.obj</uri>
</mesh>
</geometry>
<material>
<diffuse>0.4 0.4 0.4 1.0</diffuse>
</material>
</visual>
<collision name="iiwa_twoDOF_link_1_collision">
<pose>0 -0.023301 0.127997 0 0 0</pose>
<geometry>
<box>
<size>0.13596 0.182584 0.260995</size>
</box>
</geometry>
</collision>
<gravity>1</gravity>
<!-- <velocity_decay/> -->
<!-- <self_collide>0</self_collide> -->
</link>
<joint name="iiwa_joint_1" type="fixed">
<child>iiwa_twoDOF_link_1</child>
<parent>iiwa_twoDOF_link_0</parent>
<axis>
<xyz expressed_in="__model__">0 0 1</xyz>
<limit>
<lower>-2.96706</lower>
<upper>2.96706</upper>
<effort>300</effort>
<velocity>10</velocity>
</limit>
<dynamics>
<damping>0.0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<link name="iiwa_twoDOF_link_2">
<pose>0 0 0.3405 1.5708 0 -3.14159</pose>
<inertial>
<pose>0.000 0.0668 0.0344 0 0 0</pose>
<mass>2.7258</mass>
<inertia>
<ixx>0.0170</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0162</iyy>
<iyz>0</iyz>
<izz>0.0061</izz>
</inertia>
</inertial>
<visual name="iiwa_twoDOF_link_2_visual">
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>package://drake_models/iiwa_description/meshes/iiwa7/visual/link_2.obj</uri>
</mesh>
</geometry>
<material>
<diffuse>1.0 0.423529411765 0.0392156862745 1.0</diffuse>
</material>
</visual>
<collision name="iiwa_twoDOF_link_2_collision">
<pose>0 0.0580045 0.0173035 0 0 0</pose>
<geometry>
<box>
<size>0.135988 0.251991 0.182605</size>
</box>
</geometry>
</collision>
<gravity>1</gravity>
<!-- <velocity_decay/> -->
<!-- <self_collide>0</self_collide> -->
</link>
<joint name="iiwa_joint_2" type="revolute">
<child>iiwa_twoDOF_link_2</child>
<parent>iiwa_twoDOF_link_1</parent>
<axis>
<xyz expressed_in="__model__">-0 1 0</xyz>
<limit>
<lower>-2.0944</lower>
<upper>2.0944</upper>
<effort>300</effort>
<velocity>10</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<link name="iiwa_twoDOF_link_3">
<pose>0 0 0.5245 0 0 0</pose>
<inertial>
<pose>0 0.0296 0.1265 0 0 0</pose>
<mass>3.175</mass>
<inertia>
<ixx>0.025</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0238</iyy>
<iyz>0</iyz>
<izz>0.0076</izz>
</inertia>
</inertial>
<visual name="iiwa_twoDOF_link_3_visual">
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>package://drake_models/iiwa_description/meshes/iiwa7/visual/link_3.obj</uri>
</mesh>
</geometry>
<material>
<diffuse>1.0 0.423529411765 0.0392156862745 1.0</diffuse>
</material>
</visual>
<collision name="iiwa_twoDOF_link_3_collision">
<pose>0 0.0182965 0.11073 0 0 0</pose>
<geometry>
<box>
<size>0.135987 0.182593 0.29346</size>
</box>
</geometry>
</collision>
<gravity>1</gravity>
<!-- <velocity_decay/> -->
<!-- <self_collide>0</self_collide> -->
</link>
<joint name="iiwa_joint_3" type="fixed">
<child>iiwa_twoDOF_link_3</child>
<parent>iiwa_twoDOF_link_2</parent>
<axis>
<xyz expressed_in="__model__">0 0 1</xyz>
<limit>
<lower>-2.96706</lower>
<upper>2.96706</upper>
<effort>300</effort>
<velocity>10</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<link name="iiwa_twoDOF_link_4">
<pose>0 0 0.74 1.5708 0 0</pose>
<inertial>
<pose>0 0.067 0.034 0 0 0</pose>
<mass>2.73</mass>
<inertia>
<ixx>0.017</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0162</iyy>
<iyz>0</iyz>
<izz>0.0061</izz>
</inertia>
</inertial>
<visual name="iiwa_twoDOF_link_4_visual">
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>package://drake_models/iiwa_description/meshes/iiwa7/visual/link_4.obj</uri>
</mesh>
</geometry>
<material>
<diffuse>0.4 0.4 0.4 1.0</diffuse>
</material>
</visual>
<collision name="iiwa_twoDOF_link_4_collision">
<pose>0 0.0580045 0.0233035 0 0 0</pose>
<geometry>
<box>
<size>0.135988 0.251991 0.182605</size>
</box>
</geometry>
</collision>
<gravity>1</gravity>
<!-- <velocity_decay/> -->
<!-- <self_collide>0</self_collide> -->
</link>
<joint name="iiwa_joint_4" type="revolute">
<child>iiwa_twoDOF_link_4</child>
<parent>iiwa_twoDOF_link_3</parent>
<axis>
<xyz expressed_in="__model__">0 -1 0</xyz>
<limit>
<lower>-2.0944</lower>
<upper>2.0944</upper>
<effort>300</effort>
<velocity>10</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<link name="iiwa_twoDOF_link_5">
<pose>0 0 0.924 0 0 -3.14159</pose>
<inertial>
<pose>0.0001 0.021 0.076 0 0 0</pose>
<mass>1.69</mass>
<inertia>
<ixx>0.01</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0087</iyy>
<iyz>0</iyz>
<izz>0.00449</izz>
</inertia>
</inertial>
<visual name="iiwa_twoDOF_link_5_visual">
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>package://drake_models/iiwa_description/meshes/iiwa7/visual/link_5.obj</uri>
</mesh>
</geometry>
<material>
<diffuse>0.4 0.4 0.4 1.0</diffuse>
</material>
</visual>
<collision name="iiwa_twoDOF_link_5_collision">
<pose>0 0.015546 0.102458 0 0 0</pose>
<geometry>
<box>
<size>0.135999 0.167092 0.276916</size>
</box>
</geometry>
</collision>
<gravity>1</gravity>
<!-- <velocity_decay/> -->
<!-- <self_collide>0</self_collide> -->
</link>
<joint name="iiwa_joint_5" type="fixed">
<child>iiwa_twoDOF_link_5</child>
<parent>iiwa_twoDOF_link_4</parent>
<axis>
<xyz expressed_in="__model__">0 0 1</xyz>
<limit>
<lower>-2.96706</lower>
<upper>2.96706</upper>
<effort>300</effort>
<velocity>10</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<link name="iiwa_twoDOF_link_6">
<pose>0 0 1.1395 1.5708 0 -3.14159</pose>
<inertial>
<pose>0 0.0026 0.0005 0 0 0</pose>
<mass>1.8</mass>
<inertia>
<ixx>0.0051</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0049</iyy>
<iyz>0</iyz>
<izz>0.0035</izz>
</inertia>
</inertial>
<visual name="iiwa_twoDOF_link_6_visual">
<pose>0 0 -0.060700 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>package://drake_models/iiwa_description/meshes/iiwa7/visual/link_6.obj</uri>
</mesh>
</geometry>
<material>
<diffuse>0.4 0.4 0.4 1.0</diffuse>
</material>
</visual>
<collision name="iiwa_twoDOF_link_6_collision">
<geometry>
<box>
<size>0.132334 0.177387 0.137409</size>
</box>
</geometry>
</collision>
<gravity>1</gravity>
<!-- <velocity_decay/> -->
<!-- <self_collide>0</self_collide> -->
</link>
<joint name="iiwa_joint_6" type="fixed">
<child>iiwa_twoDOF_link_6</child>
<parent>iiwa_twoDOF_link_5</parent>
<axis>
<xyz expressed_in="__model__">-0 1 -0</xyz>
<limit>
<lower>-2.0944</lower>
<upper>2.0944</upper>
<effort>300</effort>
<velocity>10</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<link name="iiwa_twoDOF_link_7">
<pose>0 0 1.22 0 0 0</pose>
<inertial>
<pose>0 0 0.0294 0 0 0</pose>
<mass>.4</mass>
<inertia>
<ixx>0.0004</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0004</iyy>
<iyz>0</iyz>
<izz>0.0005</izz>
</inertia>
</inertial>
<visual name="iiwa_twoDOF_link_7_visual">
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>package://drake_models/iiwa_description/meshes/iiwa7/visual/link_7.obj</uri>
</mesh>
</geometry>
<material>
<diffuse>0.4 0.4 0.4 1.0</diffuse>
</material>
</visual>
<collision name="iiwa_twoDOF_link_7_collision">
<pose>0 0 0.021997 0 0 0</pose>
<geometry>
<box>
<size>0.10385 0.103885 0.045</size>
</box>
</geometry>
</collision>
<gravity>1</gravity>
<!-- <velocity_decay/> -->
<!-- <self_collide>0</self_collide> -->
</link>
<joint name="iiwa_joint_7" type="fixed">
<child>iiwa_twoDOF_link_7</child>
<parent>iiwa_twoDOF_link_6</parent>
<axis>
<xyz expressed_in="__model__">0 0 1</xyz>
<limit>
<lower>-3.05433</lower>
<upper>3.05433</upper>
<effort>300</effort>
<velocity>10</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<static>0</static>
<!-- <plugin name="gazebo_ros_controller" filename="libgazebo_ros_control.so">
<robotNamespace>/iiwa</robotNamespace>
</plugin> -->
</model>
</sdf>
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment