panda.urdf

<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from src/morefusion/ros/morefusion_panda/robots/panda.urdf.xacro | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="panda">
  <!-- arm {{ -->
  <link name="panda_link0">
    <visual>
      <geometry>
        <mesh filename="/home/wkentaro/ros_morefusion/src/frankaemika/franka_ros/franka_description/meshes/visual/link0.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="/home/wkentaro/ros_morefusion/src/frankaemika/franka_ros/franka_description/meshes/collision/link0.stl"/>
      </geometry>
    </collision>
  </link>
  <link name="panda_link1">
    <visual>
      <geometry>
        <mesh filename="/home/wkentaro/ros_morefusion/src/frankaemika/franka_ros/franka_description/meshes/visual/link1.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="/home/wkentaro/ros_morefusion/src/frankaemika/franka_ros/franka_description/meshes/collision/link1.stl"/>
      </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="/home/wkentaro/ros_morefusion/src/frankaemika/franka_ros/franka_description/meshes/visual/link2.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="/home/wkentaro/ros_morefusion/src/frankaemika/franka_ros/franka_description/meshes/collision/link2.stl"/>
      </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="/home/wkentaro/ros_morefusion/src/frankaemika/franka_ros/franka_description/meshes/visual/link3.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="/home/wkentaro/ros_morefusion/src/frankaemika/franka_ros/franka_description/meshes/collision/link3.stl"/>
      </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="/home/wkentaro/ros_morefusion/src/frankaemika/franka_ros/franka_description/meshes/visual/link4.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="/home/wkentaro/ros_morefusion/src/frankaemika/franka_ros/franka_description/meshes/collision/link4.stl"/>
      </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="/home/wkentaro/ros_morefusion/src/frankaemika/franka_ros/franka_description/meshes/visual/link5.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="/home/wkentaro/ros_morefusion/src/frankaemika/franka_ros/franka_description/meshes/collision/link5.stl"/>
      </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="/home/wkentaro/ros_morefusion/src/frankaemika/franka_ros/franka_description/meshes/visual/link6.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="/home/wkentaro/ros_morefusion/src/frankaemika/franka_ros/franka_description/meshes/collision/link6.stl"/>
      </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="/home/wkentaro/ros_morefusion/src/frankaemika/franka_ros/franka_description/meshes/visual/link7.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="/home/wkentaro/ros_morefusion/src/frankaemika/franka_ros/franka_description/meshes/collision/link7.stl"/>
      </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"/>
  <joint name="panda_joint8" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0.107"/>
    <parent link="panda_link7"/>
    <child link="panda_link8"/>
    <axis xyz="0 0 0"/>
  </joint>
  <!-- }} arm -->
  <!-- gripper {{ -->
  <material name="black">
    <color rgba="0.2 0.2 0.2 1"/>
  </material>
  <material name="green">
    <color rgba="0.1 0.9 0.1 1"/>
  </material>
  <joint name="panda_suction_gripper_joint" type="fixed">
    <parent link="panda_link8"/>
    <child link="panda_suction_gripper"/>
    <origin rpy="3.141592653589793 0 -0.7853981633974483" xyz="0 0 0.0065"/>
  </joint>
  <link name="panda_suction_gripper">
    <visual>
      <geometry>
        <mesh filename="/home/wkentaro/ros_morefusion/src/morefusion/ros/morefusion_panda/meshes/visual/suction_mount.stl"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.168 0.137 0.047"/>
      </geometry>
      <origin xyz="0.0155 0 -0.005"/>
    </collision>
  </link>
  <link name="panda_suction_cup">
    <visual>
      <geometry>
        <mesh filename="/home/wkentaro/ros_morefusion/src/morefusion/ros/morefusion_panda/meshes/visual/suction_cup.stl"/>
      </geometry>
      <material name="green"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.0502 0.0502 0.0671"/>
      </geometry>
      <origin xyz="0 0 -0.0314"/>
    </collision>
  </link>
  <joint name="panda_suction_mount_to_cup_joint" type="fixed">
    <parent link="panda_suction_gripper"/>
    <child link="panda_suction_cup"/>
    <origin rpy="3.141592653589793 0 0" xyz="0.072 0 -0.069494"/>
  </joint>
  <!-- }} gripper -->
  <!-- scene {{ -->
  <material name="light_blue">
    <color rgba="0.8 0.8 1.0 1"/>
  </material>
  <joint name="panda_table_joint" type="fixed">
    <parent link="panda_link0"/>
    <child link="panda_table"/>
    <origin rpy="0 0 0" xyz="0.68 0 0.0375"/>
  </joint>
  <link name="panda_table">
    <visual>
      <geometry>
        <box size="1.2 1.2 0.075"/>
      </geometry>
      <material name="light_blue"/>
    </visual>
    <collision>
      <geometry>
        <box size="1.2 1.2 0.075"/>
      </geometry>
    </collision>
  </link>
  <material name="left_white">
    <color rgba="1.0 1.0 1.0 1"/>
  </material>
  <joint name="panda_left_wall_joint" type="fixed">
    <parent link="panda_link0"/>
    <child link="panda_left_wall"/>
    <origin rpy="1.5707963267948966 0 0" xyz="0.68 0.65 0.6"/>
  </joint>
  <link name="panda_left_wall">
    <visual>
      <geometry>
        <box size="1.2 1.2 0.1"/>
      </geometry>
      <material name="left_white"/>
    </visual>
    <collision>
      <geometry>
        <box size="1.2 1.2 0.1"/>
      </geometry>
    </collision>
  </link>
  <material name="front_white">
    <color rgba="1.0 1.0 1.0 1"/>
  </material>
  <joint name="panda_front_wall_joint" type="fixed">
    <parent link="panda_link0"/>
    <child link="panda_front_wall"/>
    <origin rpy="0 1.5707963267948966 0" xyz="1.33 0 0.6"/>
  </joint>
  <link name="panda_front_wall">
    <visual>
      <geometry>
        <box size="1.2 1.2 0.1"/>
      </geometry>
      <material name="front_white"/>
    </visual>
    <collision>
      <geometry>
        <box size="1.2 1.2 0.1"/>
      </geometry>
    </collision>
  </link>
  <material name="brown">
    <color rgba="0.804 0.522 0.247 1"/>
  </material>
  <joint name="panda_target_box_joint" type="fixed">
    <parent link="panda_link0"/>
    <child link="panda_target_box"/>
    <origin rpy="0 0 0" xyz="0.6 -0.45 0.075"/>
  </joint>
  <link name="panda_target_box">
    <visual>
      <geometry>
        <box size="0.31 0.3 0.01"/>
      </geometry>
      <material name="brown"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.31 0.3 0.01"/>
      </geometry>
    </collision>
  </link>
  <link name="panda_target_box_left">
    <visual>
      <geometry>
        <box size="0.31 0.105 0.005"/>
      </geometry>
      <material name="brown"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.31 0.105 0.005"/>
      </geometry>
    </collision>
  </link>
  <link name="panda_target_box_right">
    <visual>
      <geometry>
        <box size="0.31 0.105 0.005"/>
      </geometry>
      <material name="brown"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.31 0.105 0.005"/>
      </geometry>
    </collision>
  </link>
  <link name="panda_target_box_front">
    <visual>
      <geometry>
        <box size="0.105 0.3 0.005"/>
      </geometry>
      <material name="brown"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.105 0.3 0.005"/>
      </geometry>
    </collision>
  </link>
  <link name="panda_target_box_back">
    <visual>
      <geometry>
        <box size="0.105 0.3 0.005"/>
      </geometry>
      <material name="brown"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.105 0.3 0.005"/>
      </geometry>
    </collision>
  </link>
  <joint name="panda_target_box_left_joint" type="fixed">
    <parent link="panda_target_box"/>
    <child link="panda_target_box_left"/>
    <origin rpy="1.5707963267948966 0 0" xyz="0 0.1475 0.0475"/>
  </joint>
  <joint name="panda_target_box_right_joint" type="fixed">
    <parent link="panda_target_box"/>
    <child link="panda_target_box_right"/>
    <origin rpy="1.5707963267948966 0 0" xyz="0 -0.1475 0.0475"/>
  </joint>
  <joint name="panda_target_box_front_joint" type="fixed">
    <parent link="panda_target_box"/>
    <child link="panda_target_box_front"/>
    <origin rpy="0 1.5707963267948966 0" xyz="-0.1525 0 0.0475"/>
  </joint>
  <joint name="panda_target_box_back_joint" type="fixed">
    <parent link="panda_target_box"/>
    <child link="panda_target_box_back"/>
    <origin rpy="0 1.5707963267948966 0" xyz="0.1525 0 0.0475"/>
  </joint>
  <material name="yellow">
    <color rgba="1.0 1.0 0.0 1"/>
  </material>
  <joint name="panda_distractor_box_joint" type="fixed">
    <parent link="panda_link0"/>
    <child link="panda_distractor_box"/>
    <origin rpy="0 0 0" xyz="0.665 0.445 0.0775"/>
  </joint>
  <link name="panda_distractor_box">
    <visual>
      <geometry>
        <box size="0.48 0.31 0.015"/>
      </geometry>
      <material name="yellow"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.48 0.31 0.015"/>
      </geometry>
    </collision>
  </link>
  <link name="panda_distractor_box_left">
    <visual>
      <geometry>
        <box size="0.48 0.2 0.015"/>
      </geometry>
      <material name="yellow"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.48 0.2 0.015"/>
      </geometry>
    </collision>
  </link>
  <link name="panda_distractor_box_right">
    <visual>
      <geometry>
        <box size="0.48 0.2 0.015"/>
      </geometry>
      <material name="yellow"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.48 0.2 0.015"/>
      </geometry>
    </collision>
  </link>
  <link name="panda_distractor_box_front">
    <visual>
      <geometry>
        <box size="0.2 0.31 0.015"/>
      </geometry>
      <material name="yellow"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.2 0.31 0.015"/>
      </geometry>
    </collision>
  </link>
  <link name="panda_distractor_box_back">
    <visual>
      <geometry>
        <box size="0.2 0.31 0.015"/>
      </geometry>
      <material name="yellow"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.2 0.31 0.015"/>
      </geometry>
    </collision>
  </link>
  <joint name="panda_distractor_box_left_joint" type="fixed">
    <parent link="panda_distractor_box"/>
    <child link="panda_distractor_box_left"/>
    <origin rpy="1.5707963267948966 0 0" xyz="0 0.1475 0.0925"/>
  </joint>
  <joint name="panda_distractor_box_right_joint" type="fixed">
    <parent link="panda_distractor_box"/>
    <child link="panda_distractor_box_right"/>
    <origin rpy="1.5707963267948966 0 0" xyz="0 -0.1475 0.0925"/>
  </joint>
  <joint name="panda_distractor_box_front_joint" type="fixed">
    <parent link="panda_distractor_box"/>
    <child link="panda_distractor_box_front"/>
    <origin rpy="0 1.5707963267948966 0" xyz="-0.2325 0 0.0925"/>
  </joint>
  <joint name="panda_distractor_box_back_joint" type="fixed">
    <parent link="panda_distractor_box"/>
    <child link="panda_distractor_box_back"/>
    <origin rpy="0 1.5707963267948966 0" xyz="0.2325 0 0.0925"/>
  </joint>
  <!-- }} scene -->
</robot>