From 7be9734c85f9cbe909ff6c0f49a70fd1989b38a4 Mon Sep 17 00:00:00 2001
From: Wolfgang Merkt <w.merkt@gmail.com>
Date: Mon, 12 Dec 2022 16:18:54 +0000
Subject: [PATCH] [panda_description] Update inertials from upstream
franka_description Gazebo URDF
Created the Gazebo URDF from upstream franka_description package and
then manually merged the inertials and new TCP frame into our packaged
URDF. Should fix #122
Note: There are two types of URDFs in the upstream repository. One also
has simplified, larger collision shapes. Since we possibly want to
simulate using the URDFs here, I kept the configuration using the convex
meshes rather than primitive shapes.
---
robots/panda_description/urdf/panda.urdf | 300 ++++++++++++++---------
1 file changed, 186 insertions(+), 114 deletions(-)
diff --git a/robots/panda_description/urdf/panda.urdf b/robots/panda_description/urdf/panda.urdf
index c767772..384fad9 100644
--- a/robots/panda_description/urdf/panda.urdf
+++ b/robots/panda_description/urdf/panda.urdf
@@ -1,6 +1,6 @@
<?xml version="1.0" ?>
<!-- =================================================================================== -->
-<!-- | This document was autogenerated by xacro from /opt/ros/kinetic/share/moveit_resources/panda_description/urdf/panda.urdf | -->
+<!-- | This document was autogenerated by xacro from franka_ros/franka_description/robots/panda/panda.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="panda" xmlns:xacro="http://www.ros.org/wiki/xacro">
@@ -15,13 +15,13 @@
<mesh filename="package://example-robot-data/robots/panda_description/meshes/collision/link0.stl" />
</geometry>
</collision>
- </link>
- <link name="panda_link1">
<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"/>
+ <origin rpy="0 0 0" xyz="-0.041018 -0.00014 0.049974"/>
+ <mass value="0.629769"/>
+ <inertia ixx="0.00315" ixy="8.2904e-07" ixz="0.00015" iyy="0.00388" iyz="8.2299e-06" izz="0.004285"/>
</inertial>
+ </link>
+ <link name="panda_link1">
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link1.dae" />
@@ -32,21 +32,22 @@
<mesh filename="package://example-robot-data/robots/panda_description/meshes/collision/link1.stl" />
</geometry>
</collision>
+ <inertial>
+ <origin rpy="0 0 0" xyz="0.003875 0.002081 -0.04762"/>
+ <mass value="4.970684"/>
+ <inertia ixx="0.70337" ixy="-0.000139" ixz="0.006772" iyy="0.70661" iyz="0.019169" izz="0.009117"/>
+ </inertial>
</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="-2.9671" upper="2.9671" velocity="2.3925" />
+ <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="87.0" lower="-2.8973" upper="2.8973" velocity="2.175"/>
+ <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+ <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
</joint>
<link name="panda_link2">
- <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>
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link2.dae" />
@@ -57,21 +58,22 @@
<mesh filename="package://example-robot-data/robots/panda_description/meshes/collision/link2.stl" />
</geometry>
</collision>
+ <inertial>
+ <origin rpy="0 0 0" xyz="-0.003141 -0.02872 0.003495"/>
+ <mass value="0.646926"/>
+ <inertia ixx="0.007962" ixy="-0.003925" ixz="0.010254" iyy="0.02811" iyz="0.000704" izz="0.025995"/>
+ </inertial>
</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="-1.57079632679 0 0" xyz="0 0 0" />
- <parent link="panda_link1" />
- <child link="panda_link2" />
- <axis xyz="0 0 1" />
- <limit effort="87" lower="-1.8326" upper="1.8326" velocity="2.3925" />
+ <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="87.0" lower="-1.7628" upper="1.7628" velocity="2.175"/>
+ <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"/>
+ <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
</joint>
<link name="panda_link3">
- <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>
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link3.dae" />
@@ -82,46 +84,48 @@
<mesh filename="package://example-robot-data/robots/panda_description/meshes/collision/link3.stl" />
</geometry>
</collision>
+ <inertial>
+ <origin rpy="0 0 0" xyz="2.7518e-02 3.9252e-02 -6.6502e-02"/>
+ <mass value="3.228604"/>
+ <inertia ixx="0.037242" ixy="-0.004761" ixz="-0.011396" iyy="0.036155" iyz="-0.012805" izz="0.01083"/>
+ </inertial>
</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="1.57079632679 0 0" xyz="0 -0.316 0" />
- <parent link="panda_link2" />
- <child link="panda_link3" />
- <axis xyz="0 0 1" />
- <limit effort="87" lower="-2.9671" upper="2.9671" velocity="2.3925" />
+ <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="87.0" lower="-2.8973" upper="2.8973" velocity="2.175"/>
+ <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+ <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
</joint>
<link name="panda_link4">
- <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>
<geometry>
- <mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link4.dae" />
+ <mesh filename="package://franka_description/meshes/visual/link4.dae"/>
</geometry>
</visual>
<collision>
<geometry>
- <mesh filename="package://example-robot-data/robots/panda_description/meshes/collision/link4.stl" />
+ <mesh filename="package://franka_description/meshes/collision/link4.stl"/>
</geometry>
</collision>
+ <inertial>
+ <origin rpy="0 0 0" xyz="-5.317e-02 1.04419e-01 2.7454e-02"/>
+ <mass value="3.587895"/>
+ <inertia ixx="0.025853" ixy="0.007796" ixz="-0.001332" iyy="0.019552" iyz="0.008641" izz="0.028323"/>
+ </inertial>
</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="0.0175" />
- <origin rpy="1.57079632679 0 0" xyz="0.0825 0 0" />
- <parent link="panda_link3" />
- <child link="panda_link4" />
- <axis xyz="0 0 1" />
- <limit effort="87" lower="-3.1416" upper="0.0873" velocity="2.3925" />
+ <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="87.0" lower="-3.0718" upper="-0.0698" velocity="2.175"/>
+ <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698"/>
+ <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
</joint>
<link name="panda_link5">
- <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>
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link5.dae" />
@@ -132,21 +136,22 @@
<mesh filename="package://example-robot-data/robots/panda_description/meshes/collision/link5.stl" />
</geometry>
</collision>
+ <inertial>
+ <origin rpy="0 0 0" xyz="-1.1953e-02 4.1065e-02 -3.8437e-02"/>
+ <mass value="1.225946"/>
+ <inertia ixx="0.035549" ixy="-0.002117" ixz="-0.004037" iyy="0.029474" iyz="0.000229" izz="0.008627"/>
+ </inertial>
</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="-1.57079632679 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="-2.9671" upper="2.9671" velocity="2.8710" />
+ <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="12.0" lower="-2.8973" upper="2.8973" velocity="2.61"/>
+ <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+ <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
</joint>
<link name="panda_link6">
- <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>
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link6.dae" />
@@ -157,21 +162,22 @@
<mesh filename="package://example-robot-data/robots/panda_description/meshes/collision/link6.stl" />
</geometry>
</collision>
+ <inertial>
+ <origin rpy="0 0 0" xyz="6.0149e-02 -1.4117e-02 -1.0517e-02"/>
+ <mass value="1.666555"/>
+ <inertia ixx="0.001964" ixy="0.000109" ixz="-0.001158" iyy="0.004354" iyz="0.000341" izz="0.005433"/>
+ </inertial>
</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="1.57079632679 0 0" xyz="0 0 0" />
- <parent link="panda_link5" />
- <child link="panda_link6" />
- <axis xyz="0 0 1" />
- <limit effort="12" lower="-0.0873" upper="3.8223" velocity="2.8710" />
+ <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="12.0" lower="-0.0175" upper="3.7525" velocity="2.61"/>
+ <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"/>
+ <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
</joint>
<link name="panda_link7">
- <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>
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link7.dae" />
@@ -182,14 +188,20 @@
<mesh filename="package://example-robot-data/robots/panda_description/meshes/collision/link7.stl" />
</geometry>
</collision>
+ <inertial>
+ <origin rpy="0 0 0" xyz="1.0517e-02 -4.252e-03 6.1597e-02"/>
+ <mass value="0.735522"/>
+ <inertia ixx="0.012516" ixy="-0.000428" ixz="-0.001196" iyy="0.010027" iyz="-0.000741" izz="0.004815"/>
+ </inertial>
</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="1.57079632679 0 0" xyz="0.088 0 0" />
- <parent link="panda_link6" />
- <child link="panda_link7" />
- <axis xyz="0 0 1" />
- <limit effort="12" lower="-2.9671" upper="2.9671" velocity="2.8710" />
+ <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="12.0" lower="-2.8973" upper="2.8973" velocity="2.61"/>
+ <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+ <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
</joint>
<link name="panda_link8">
<inertial>
@@ -199,22 +211,16 @@
</inertial>
</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" />
- <axis xyz="0 0 0" />
+ <origin rpy="0 0 0" xyz="0 0 0.107"/>
+ <parent link="panda_link7"/>
+ <child link="panda_link8"/>
</joint>
<joint name="panda_hand_joint" type="fixed">
- <parent link="panda_link8" />
- <child link="panda_hand" />
- <origin rpy="0 0 -0.785398163397" xyz="0 0 0" />
+ <parent link="panda_link8"/>
+ <child link="panda_hand"/>
+ <origin rpy="0 0 -0.7853981633974483" xyz="0 0 0"/>
</joint>
<link name="panda_hand">
- <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>
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/hand.dae" />
@@ -225,56 +231,122 @@
<mesh filename="package://example-robot-data/robots/panda_description/meshes/collision/hand.stl" />
</geometry>
</collision>
- </link>
- <link name="panda_leftfinger">
<inertial>
+ <origin rpy="0 0 0" xyz="-0.01 0 0.03"/>
+ <mass value="0.73"/>
+ <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.0025" iyz="0" izz="0.0017"/>
+ </inertial>
+ </link>
+ <!-- Define the hand_tcp frame -->
+ <link name="panda_hand_tcp">
+ <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>
+ </link>
+ <joint name="panda_hand_tcp_joint" type="fixed">
+ <origin rpy="0 0 0" xyz="0 0 0.1034"/>
+ <parent link="panda_hand"/>
+ <child link="panda_hand_tcp"/>
+ </joint>
+ <link name="panda_leftfinger">
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/finger.dae" />
</geometry>
</visual>
+ <!-- screw mount -->
<collision>
+ <origin rpy="0 0 0" xyz="0 18.5e-3 11e-3"/>
<geometry>
- <mesh filename="package://example-robot-data/robots/panda_description/meshes/collision/finger.stl" />
+ <box size="22e-3 15e-3 20e-3"/>
+ </geometry>
+ </collision>
+ <!-- cartriage sledge -->
+ <collision>
+ <origin rpy="0 0 0" xyz="0 6.8e-3 2.2e-3"/>
+ <geometry>
+ <box size="22e-3 8.8e-3 3.8e-3"/>
+ </geometry>
+ </collision>
+ <!-- diagonal finger -->
+ <collision>
+ <origin rpy="0.5235987755982988 0 0" xyz="0 15.9e-3 28.35e-3"/>
+ <geometry>
+ <box size="17.5e-3 7e-3 23.5e-3"/>
+ </geometry>
+ </collision>
+ <!-- rubber tip with which to grasp -->
+ <collision>
+ <origin rpy="0 0 0" xyz="0 7.58e-3 45.25e-3"/>
+ <geometry>
+ <box size="17.5e-3 15.2e-3 18.5e-3"/>
</geometry>
</collision>
- </link>
- <link name="panda_rightfinger">
<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"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0.015"/>
+ <inertia ixx="2.3749999999999997e-06" ixy="0" ixz="0" iyy="2.3749999999999997e-06" iyz="0" izz="7.5e-07"/>
</inertial>
+ </link>
+ <link name="panda_rightfinger">
<visual>
- <origin rpy="0 0 3.14159265359" xyz="0 0 0" />
+ <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/finger.dae" />
</geometry>
</visual>
+ <!-- screw mount -->
+ <collision>
+ <origin rpy="0 0 0" xyz="0 -18.5e-3 11e-3"/>
+ <geometry>
+ <box size="22e-3 15e-3 20e-3"/>
+ </geometry>
+ </collision>
+ <!-- cartriage sledge -->
+ <collision>
+ <origin rpy="0 0 0" xyz="0 -6.8e-3 2.2e-3"/>
+ <geometry>
+ <box size="22e-3 8.8e-3 3.8e-3"/>
+ </geometry>
+ </collision>
+ <!-- diagonal finger -->
<collision>
- <origin rpy="0 0 3.14159265359" xyz="0 0 0" />
+ <origin rpy="-0.5235987755982988 0 0" xyz="0 -15.9e-3 28.35e-3"/>
<geometry>
- <mesh filename="package://example-robot-data/robots/panda_description/meshes/collision/finger.stl" />
+ <box size="17.5e-3 7e-3 23.5e-3"/>
</geometry>
</collision>
+ <!-- rubber tip with which to grasp -->
+ <collision>
+ <origin rpy="0 0 0" xyz="0 -7.58e-3 45.25e-3"/>
+ <geometry>
+ <box size="17.5e-3 15.2e-3 18.5e-3"/>
+ </geometry>
+ </collision>
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0.015"/>
+ <inertia ixx="2.3749999999999997e-06" ixy="0" ixz="0" iyy="2.3749999999999997e-06" iyz="0" izz="7.5e-07"/>
+ </inertial>
</link>
<joint name="panda_finger_joint1" type="prismatic">
- <parent link="panda_hand" />
- <child link="panda_leftfinger" />
- <origin rpy="0 0 0" xyz="0 0 0.0584" />
- <axis xyz="0 1 0" />
- <limit effort="20" lower="0.0" upper="0.04" velocity="0.2" />
+ <parent link="panda_hand"/>
+ <child link="panda_leftfinger"/>
+ <origin rpy="0 0 0" xyz="0 0 0.0584"/>
+ <axis xyz="0 1 0"/>
+ <limit effort="100" lower="0.0" upper="0.04" velocity="0.2"/>
+ <dynamics damping="0.3"/>
</joint>
<joint name="panda_finger_joint2" type="prismatic">
- <parent link="panda_hand" />
- <child link="panda_rightfinger" />
- <origin rpy="0 0 0" xyz="0 0 0.0584" />
- <axis xyz="0 -1 0" />
- <limit effort="20" lower="0.0" upper="0.04" velocity="0.2" />
- <mimic joint="panda_finger_joint1" />
+ <parent link="panda_hand"/>
+ <child link="panda_rightfinger"/>
+ <origin rpy="0 0 0" xyz="0 0 0.0584"/>
+ <axis xyz="0 -1 0"/>
+ <limit effort="100" lower="0.0" upper="0.04" velocity="0.2"/>
+ <mimic joint="panda_finger_joint1"/>
+ <dynamics damping="0.3"/>
</joint>
</robot>
+
--
GitLab