change config and add urdf for default panda so things don't break if…

… due to pybullet_urdf flag
Improbable-AI · Apr 12, 2022 · 83e7cb0 · 83e7cb0
1 parent 714f5e3
commit 83e7cb0
Show file tree

Hide file tree

Showing 2 changed files with 339 additions and 1 deletion.
diff --git a/src/airobot/cfgs/franka_cfg.py b/src/airobot/cfgs/franka_cfg.py
@@ -12,7 +12,7 @@
 _C.HAS_EETOOL = True
 
 _C.ROBOT_DESCRIPTION = '/robot_description'
-_C.PYBULLET_URDF = 'franka_panda/panda.urdf'
+_C.PYBULLET_URDF = 'panda.urdf'
 
 _C.ARM = get_franka_arm_cfg()
 

diff --git a/src/airobot/urdfs/panda.urdf b/src/airobot/urdfs/panda.urdf
@@ -0,0 +1,338 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from panda_arm_hand.urdf.xacro      | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="panda" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <link name="panda_link0">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.05"/>
+       <mass value="2.9"/>
+       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/panda/meshes/collision/link0.obj"/>
+      </geometry>
+      <material name="panda_white">
+        <color rgba="1. 1. 1. 1."/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/panda/meshes/collision/link0.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </collision>
+  </link>
+  <link name="panda_link1">
+  	<inertial>
+      <origin rpy="0 0 0" xyz="0 -0.04 -0.05"/>
+       <mass value="2.7"/>
+       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/panda/meshes/visual/link1.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/panda/meshes/collision/link1.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </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="-2.9671" upper="2.9671" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link2">
+  	<inertial>
+      <origin rpy="0 0 0" xyz="0 -0.04 0.06"/>
+       <mass value="2.73"/>
+       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/panda/meshes/visual/link2.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/panda/meshes/collision/link2.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </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="-1.57079632679 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="2.1750"/>
+  </joint>
+  <link name="panda_link3">
+	  <inertial>
+      <origin rpy="0 0 0" xyz="0.01 0.01 -0.05"/>
+       <mass value="2.04"/>
+       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/panda/meshes/visual/link3.obj"/>
+      </geometry>
+      <material name="panda_red">
+    		<color rgba="1. 1. 1. 1."/>
+  		</material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/panda/meshes/collision/link3.obj"/>
+      </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="1.57079632679 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="2.1750"/>
+  </joint>
+  <link name="panda_link4">
+  	<inertial>
+      <origin rpy="0 0 0" xyz="-0.03 0.03 0.02"/>
+       <mass value="2.08"/>
+       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/panda/meshes/visual/link4.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/panda/meshes/collision/link4.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </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="1.57079632679 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="0.0" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link5">
+  	<inertial>
+      <origin rpy="0 0 0" xyz="0 0.04 -0.12"/>
+       <mass value="3"/>
+       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/panda/meshes/visual/link5.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/panda/meshes/collision/link5.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </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="-1.57079632679 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="2.6100"/>
+  </joint>
+  <link name="panda_link6">
+  	<inertial>
+      <origin rpy="0 0 0" xyz="0.04 0 0"/>
+       <mass value="1.3"/>
+       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/panda/meshes/visual/link6.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/panda/meshes/collision/link6.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </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="1.57079632679 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="2.6100"/>
+  </joint>
+  <link name="panda_link7">
+  	<inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.08"/>
+       <mass value=".2"/>
+       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/panda/meshes/collision/link7.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/panda/meshes/collision/link7.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </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="1.57079632679 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="2.6100"/>
+  </joint>
+  <link name="panda_link8">
+  	 <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value="0.0"/>
+       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
+    </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"/>
+  </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"/>
+  </joint>
+  <link name="panda_hand">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.04"/>
+       <mass value=".81"/>
+       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/panda/meshes/visual/hand.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/panda/meshes/collision/hand.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </collision>
+  </link>
+  <link name="panda_leftfinger">
+   <contact>
+      <friction_anchor/>
+      <stiffness value="30000.0"/>
+      <damping value="1000.0"/>
+      <spinning_friction value="0.1"/>
+      <lateral_friction value="1.0"/>
+    </contact>
+  	<inertial>
+      <origin rpy="0 0 0" xyz="0 0.01 0.02"/>
+       <mass value="0.1"/>
+       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/panda/meshes/visual/finger.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/panda/meshes/collision/finger.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </collision>
+  </link>
+  <link name="panda_rightfinger">
+    <contact>
+      <friction_anchor/>
+      <stiffness value="30000.0"/>
+      <damping value="1000.0"/>
+      <spinning_friction value="0.1"/>
+      <lateral_friction value="1.0"/>
+    </contact>
+
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 -0.01 0.02"/>
+       <mass value="0.1"/>
+       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/panda/meshes/visual/finger.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/panda/meshes/collision/finger.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </collision>
+  </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"/>
+  </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"/>
+  </joint>
+   <link name="panda_grasptarget">
+ <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value="0.0"/>
+       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
+    </inertial>
+   </link>
+   <joint name="panda_grasptarget_hand" type="fixed">
+    <parent link="panda_hand"/>
+    <child link="panda_grasptarget"/>
+    <origin rpy="0 0 0" xyz="0 0 0.105"/>
+  </joint>
+
+</robot>