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dual_iiwa14_polytope_collision.urdf
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dual_iiwa14_polytope_collision.urdf
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<?xml version="1.0"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from urdf/dual_iiwa14_polytope_collision.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<!-- ===================================================================== -->
<!-- This URDF contains two instances of the iiwa14_polytope_collision models, a
left one and a right one. They can be distinguished by a "left_" and
"right_" prefix in front of their link, joint, and transmission names.
Collision models: complex meshes can drastically affect run time.
Therefore most collision models are omitted in this model and link 7 uses a
polytope model.
-->
<!-- ===================================================================== -->
<robot xmlns:drake="http://drake.mit.edu" xmlns:xacro="http://www.ros.org/wiki/xacro" name="dual_iiwa14">
<!-- Import Rviz colors -->
<material name="Black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="Blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="Green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<material name="Grey">
<color rgba="0.4 0.4 0.4 1.0"/>
</material>
<material name="Silver">
<color rgba="0.6 0.6 0.6 1.0"/>
</material>
<material name="Orange">
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
</material>
<material name="Brown">
<color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
</material>
<material name="Red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="White">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<!-- Defines a base link that will serve as the model's root. This is
necessary since URDF requires that the model be a tree.-->
<link name="base"/>
<!--joint between {parent} and link_0-->
<joint name="left_iiwa_base_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 1.56 0"/>
<parent link="base"/>
<child link="left_iiwa_link_0"/>
</joint>
<link name="left_iiwa_link_0">
<inertial>
<origin rpy="0 0 0" xyz="-0.1 0 0.07"/>
<mass value="5"/>
<inertia ixx="0.05" ixy="0" ixz="0" iyy="0.06" iyz="0" izz="0.03"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://drake_models/iiwa_description/meshes/iiwa14/visual/link_0.gltf"/>
</geometry>
</visual>
<self_collision_checking>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<capsule length="0.25" radius="0.15"/>
</geometry>
</self_collision_checking>
</link>
<!-- joint between link_0 and link_1 -->
<joint name="left_iiwa_joint_1" type="revolute">
<parent link="left_iiwa_link_0"/>
<child link="left_iiwa_link_1"/>
<origin rpy="0 0 0" xyz="0 0 0.1575"/>
<axis xyz="0 0 1"/>
<limit drake:acceleration="8.57" effort="320" lower="-2.96705972839" upper="2.96705972839" velocity="1.4835298641951802"/>
<dynamics damping="0.5"/>
</joint>
<link name="left_iiwa_link_1">
<inertial>
<origin rpy="0 0 0" xyz="0 -0.03 0.12"/>
<mass value="5.76"/>
<inertia ixx="0.033" ixy="0" ixz="0" iyy="0.0333" iyz="0" izz="0.0123"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://drake_models/iiwa_description/meshes/iiwa14/visual/link_1.gltf"/>
</geometry>
</visual>
</link>
<!-- joint between link_1 and link_2 -->
<joint name="left_iiwa_joint_2" type="revolute">
<parent link="left_iiwa_link_1"/>
<child link="left_iiwa_link_2"/>
<origin rpy="1.570796326794897 0 3.141592653589793" xyz="0 0 0.2025"/>
<axis xyz="0 0 1"/>
<limit drake:acceleration="8.57" effort="320" lower="-2.09439510239" upper="2.09439510239" velocity="1.4835298641951802"/>
<dynamics damping="0.5"/>
</joint>
<link name="left_iiwa_link_2">
<inertial>
<origin rpy="0 0 0" xyz="0.0003 0.059 0.042"/>
<mass value="6.35"/>
<!-- 3.95 kuka CAD value-->
<!--4 Original Drake URDF value-->
<inertia ixx="0.0305" ixy="0" ixz="0" iyy="0.011" iyz="0" izz="0.0304"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://drake_models/iiwa_description/meshes/iiwa14/visual/link_2_orange.gltf"/>
</geometry>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://drake_models/iiwa_description/meshes/iiwa14/visual/link_2_grey.gltf"/>
</geometry>
</visual>
</link>
<!-- joint between link_2 and link_3 -->
<joint name="left_iiwa_joint_3" type="revolute">
<parent link="left_iiwa_link_2"/>
<child link="left_iiwa_link_3"/>
<origin rpy="1.570796326794897 0 3.141592653589793" xyz="0 0.2045 0"/>
<axis xyz="0 0 1"/>
<limit drake:acceleration="8.74" effort="176" lower="-2.96705972839" upper="2.96705972839" velocity="1.7453292519943295"/>
<dynamics damping="0.5"/>
</joint>
<link name="left_iiwa_link_3">
<inertial>
<origin rpy="0 0 0" xyz="0 0.03 0.13"/>
<mass value="3.5"/>
<!--3.18 kuka CAD value-->
<!--3 Original Drake URDF value-->
<inertia ixx="0.025" ixy="0" ixz="0" iyy="0.0238" iyz="0" izz="0.0076"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://drake_models/iiwa_description/meshes/iiwa14/visual/link_3.gltf"/>
</geometry>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://drake_models/iiwa_description/meshes/iiwa14/visual/band.gltf"/>
</geometry>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://drake_models/iiwa_description/meshes/iiwa14/visual/kuka.gltf"/>
</geometry>
</visual>
</link>
<!-- joint between link_3 and link_4 -->
<joint name="left_iiwa_joint_4" type="revolute">
<parent link="left_iiwa_link_3"/>
<child link="left_iiwa_link_4"/>
<origin rpy="1.570796326794897 0 0" xyz="0 0 0.2155"/>
<axis xyz="0 0 1"/>
<limit drake:acceleration="11.36" effort="176" lower="-2.09439510239" upper="2.09439510239" velocity="1.3089969389957472"/>
<dynamics damping="0.5"/>
</joint>
<link name="left_iiwa_link_4">
<inertial>
<origin rpy="0 0 0" xyz="0 0.067 0.034"/>
<mass value="3.5"/>
<!--2.74 kuka CAD value-->
<!--2.7 Original Drake URDF value-->
<inertia ixx="0.017" ixy="0" ixz="0" iyy="0.006" iyz="0" izz="0.0164"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://drake_models/iiwa_description/meshes/iiwa14/visual/link_4_orange.gltf"/>
</geometry>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://drake_models/iiwa_description/meshes/iiwa14/visual/link_4_grey.gltf"/>
</geometry>
</visual>
</link>
<!-- joint between link_4 and link_5 -->
<joint name="left_iiwa_joint_5" type="revolute">
<parent link="left_iiwa_link_4"/>
<child link="left_iiwa_link_5"/>
<origin rpy="-1.570796326794897 3.141592653589793 0" xyz="0 0.1845 0"/>
<axis xyz="0 0 1"/>
<limit drake:acceleration="12.23" effort="110" lower="-2.96705972839" upper="2.96705972839" velocity="2.2689280275926285"/>
<dynamics damping="0.5"/>
</joint>
<link name="left_iiwa_link_5">
<inertial>
<origin rpy="0 0 0" xyz="0.0001 0.021 0.076"/>
<mass value="3.5"/>
<!--1.69 kuka CAD value-->
<!--1.7 Original Drake URDF value-->
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.0087" iyz="0" izz="0.00449"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://drake_models/iiwa_description/meshes/iiwa14/visual/link_5.gltf"/>
</geometry>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://drake_models/iiwa_description/meshes/iiwa14/visual/band.gltf"/>
</geometry>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://drake_models/iiwa_description/meshes/iiwa14/visual/kuka.gltf"/>
</geometry>
</visual>
</link>
<!-- joint between link_5 and link_6 -->
<joint name="left_iiwa_joint_6" type="revolute">
<parent link="left_iiwa_link_5"/>
<child link="left_iiwa_link_6"/>
<origin rpy="1.570796326794897 0 0" xyz="0 0 0.2155"/>
<axis xyz="0 0 1"/>
<limit drake:acceleration="15.72" effort="40" lower="-2.09439510239" upper="2.09439510239" velocity="2.356194490192345"/>
<dynamics damping="0.5"/>
</joint>
<link name="left_iiwa_link_6">
<inertial>
<origin rpy="0 0 0" xyz="0 0.0006 0.0004"/>
<mass value="1.8"/>
<!--1.8 kuka CAD value-->
<!--1.8 Original Drake URDF value-->
<inertia ixx="0.0049" ixy="0" ixz="0" iyy="0.0047" iyz="0" izz="0.0036"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://drake_models/iiwa_description/meshes/iiwa14/visual/link_6_orange.gltf"/>
</geometry>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://drake_models/iiwa_description/meshes/iiwa14/visual/link_6_grey.gltf"/>
</geometry>
</visual>
</link>
<!-- joint between link_6 and link_7 -->
<joint name="left_iiwa_joint_7" type="revolute">
<parent link="left_iiwa_link_6"/>
<child link="left_iiwa_link_7"/>
<origin rpy="-1.570796326794897 3.141592653589793 0" xyz="0 0.081 0"/>
<axis xyz="0 0 1"/>
<limit drake:acceleration="15.72" effort="40" lower="-3.05432619099" upper="3.05432619099" velocity="2.356194490192345"/>
<dynamics damping="0.5"/>
</joint>
<link name="left_iiwa_link_7">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.02"/>
<mass value="1.2"/>
<!--0.31 kuka CAD value-->
<!--0.3 Original Drake URDF value-->
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://drake_models/iiwa_description/meshes/iiwa14/visual/link_7.gltf"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://drake_models/iiwa_description/meshes/iiwa14/collision/link_7_polytope.obj">
<drake:declare_convex/>
</mesh>
</geometry>
</collision>
</link>
<joint name="left_iiwa_joint_ee" type="fixed">
<parent link="left_iiwa_link_7"/>
<child link="left_iiwa_link_ee_kuka"/>
<origin rpy="3.141592653589793 3.141592653589793 3.141592653589793" xyz="0 0 0.045"/>
<axis xyz="0 0 1"/>
</joint>
<link name="left_iiwa_link_ee_kuka">
</link>
<joint name="left_iiwa_tool0_joint" type="fixed">
<parent link="left_iiwa_link_7"/>
<child link="left_iiwa_link_ee"/>
<origin rpy="0 -1.570796326794897 0" xyz="0 0 0.045"/>
</joint>
<link name="left_iiwa_link_ee">
</link>
<frame link="left_iiwa_link_ee" name="left_iiwa_frame_ee" rpy="3.141592653589793 0 1.570796326794897" xyz="0.09 0 0"/>
<drake:collision_filter_group name="left_iiwa_wrist">
<drake:member link="left_iiwa_link_5"/>
<drake:member link="left_iiwa_link_6"/>
<drake:member link="left_iiwa_link_7"/>
<drake:ignored_collision_filter_group name="left_iiwa_wrist"/>
</drake:collision_filter_group>
<!-- Load Gazebo lib and set the robot namespace -->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_controller">
<robotNamespace>/left_iiwa</robotNamespace>
</plugin>
</gazebo>
<!-- Link0 -->
<gazebo reference="iiwa_link_0">
<material>Gazebo/Grey</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- Link1 -->
<gazebo reference="iiwa_link_1">
<material>Gazebo/Orange</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- Link2 -->
<gazebo reference="iiwa_link_2">
<material>Gazebo/Orange</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- Link3 -->
<gazebo reference="iiwa_link_3">
<material>Gazebo/Orange</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- Link4 -->
<gazebo reference="iiwa_link_4">
<material>Gazebo/Orange</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- Link5 -->
<gazebo reference="iiwa_link_5">
<material>Gazebo/Orange</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- Link6 -->
<gazebo reference="iiwa_link_6">
<material>Gazebo/Orange</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- Link7 -->
<gazebo reference="iiwa_link_7">
<material>Gazebo/Grey</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<transmission name="left_iiwa_tran_1">
<robotNamespace>/left_iiwa</robotNamespace>
<type>transmission_interface/SimpleTransmission</type>
<joint name="left_iiwa_joint_1">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="left_iiwa_motor_1">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
<drake:gear_ratio value="160.0" />
<drake:rotor_inertia value="0.0001321" />
</actuator>
</transmission>
<transmission name="left_iiwa_tran_2">
<robotNamespace>/left_iiwa</robotNamespace>
<type>transmission_interface/SimpleTransmission</type>
<joint name="left_iiwa_joint_2">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="left_iiwa_motor_2">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
<drake:gear_ratio value="160.0" />
<drake:rotor_inertia value="0.0001321" />
</actuator>
</transmission>
<transmission name="left_iiwa_tran_3">
<robotNamespace>/left_iiwa</robotNamespace>
<type>transmission_interface/SimpleTransmission</type>
<joint name="left_iiwa_joint_3">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="left_iiwa_motor_3">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
<drake:gear_ratio value="160.0" />
<drake:rotor_inertia value="0.0001321" />
</actuator>
</transmission>
<transmission name="left_iiwa_tran_4">
<robotNamespace>/left_iiwa</robotNamespace>
<type>transmission_interface/SimpleTransmission</type>
<joint name="left_iiwa_joint_4">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="left_iiwa_motor_4">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
<drake:gear_ratio value="160.0" />
<drake:rotor_inertia value="0.0001321" />
</actuator>
</transmission>
<transmission name="left_iiwa_tran_5">
<robotNamespace>/left_iiwa</robotNamespace>
<type>transmission_interface/SimpleTransmission</type>
<joint name="left_iiwa_joint_5">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="left_iiwa_motor_5">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
<drake:gear_ratio value="100.0" />
<drake:rotor_inertia value="0.0001321" />
</actuator>
</transmission>
<transmission name="left_iiwa_tran_6">
<robotNamespace>/left_iiwa</robotNamespace>
<type>transmission_interface/SimpleTransmission</type>
<joint name="left_iiwa_joint_6">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="left_iiwa_motor_6">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
<drake:gear_ratio value="160.0" />
<drake:rotor_inertia value="0.0000454" />
</actuator>
</transmission>
<transmission name="left_iiwa_tran_7">
<robotNamespace>/left_iiwa</robotNamespace>
<type>transmission_interface/SimpleTransmission</type>
<joint name="left_iiwa_joint_7">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="left_iiwa_motor_7">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
<drake:gear_ratio value="160.0" />
<drake:rotor_inertia value="0.0000454" />
</actuator>
</transmission>
<!--joint between {parent} and link_0-->
<joint name="right_iiwa_base_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base"/>
<child link="right_iiwa_link_0"/>
</joint>
<link name="right_iiwa_link_0">
<inertial>
<origin rpy="0 0 0" xyz="-0.1 0 0.07"/>
<mass value="5"/>
<inertia ixx="0.05" ixy="0" ixz="0" iyy="0.06" iyz="0" izz="0.03"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://drake_models/iiwa_description/meshes/iiwa14/visual/link_0.gltf"/>
</geometry>
</visual>
<self_collision_checking>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<capsule length="0.25" radius="0.15"/>
</geometry>
</self_collision_checking>
</link>
<!-- joint between link_0 and link_1 -->
<joint name="right_iiwa_joint_1" type="revolute">
<parent link="right_iiwa_link_0"/>
<child link="right_iiwa_link_1"/>
<origin rpy="0 0 0" xyz="0 0 0.1575"/>
<axis xyz="0 0 1"/>
<limit drake:acceleration="8.57" effort="320" lower="-2.96705972839" upper="2.96705972839" velocity="1.4835298641951802"/>
<dynamics damping="0.5"/>
</joint>
<link name="right_iiwa_link_1">
<inertial>
<origin rpy="0 0 0" xyz="0 -0.03 0.12"/>
<mass value="5.76"/>
<inertia ixx="0.033" ixy="0" ixz="0" iyy="0.0333" iyz="0" izz="0.0123"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://drake_models/iiwa_description/meshes/iiwa14/visual/link_1.gltf"/>
</geometry>
</visual>
</link>
<!-- joint between link_1 and link_2 -->
<joint name="right_iiwa_joint_2" type="revolute">
<parent link="right_iiwa_link_1"/>
<child link="right_iiwa_link_2"/>
<origin rpy="1.570796326794897 0 3.141592653589793" xyz="0 0 0.2025"/>
<axis xyz="0 0 1"/>
<limit drake:acceleration="8.57" effort="320" lower="-2.09439510239" upper="2.09439510239" velocity="1.4835298641951802"/>
<dynamics damping="0.5"/>
</joint>
<link name="right_iiwa_link_2">
<inertial>
<origin rpy="0 0 0" xyz="0.0003 0.059 0.042"/>
<mass value="6.35"/>
<!-- 3.95 kuka CAD value-->
<!--4 Original Drake URDF value-->
<inertia ixx="0.0305" ixy="0" ixz="0" iyy="0.011" iyz="0" izz="0.0304"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://drake_models/iiwa_description/meshes/iiwa14/visual/link_2_orange.gltf"/>
</geometry>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://drake_models/iiwa_description/meshes/iiwa14/visual/link_2_grey.gltf"/>
</geometry>
</visual>
</link>
<!-- joint between link_2 and link_3 -->
<joint name="right_iiwa_joint_3" type="revolute">
<parent link="right_iiwa_link_2"/>
<child link="right_iiwa_link_3"/>
<origin rpy="1.570796326794897 0 3.141592653589793" xyz="0 0.2045 0"/>
<axis xyz="0 0 1"/>
<limit drake:acceleration="8.74" effort="176" lower="-2.96705972839" upper="2.96705972839" velocity="1.7453292519943295"/>
<dynamics damping="0.5"/>
</joint>
<link name="right_iiwa_link_3">
<inertial>
<origin rpy="0 0 0" xyz="0 0.03 0.13"/>
<mass value="3.5"/>
<!--3.18 kuka CAD value-->
<!--3 Original Drake URDF value-->
<inertia ixx="0.025" ixy="0" ixz="0" iyy="0.0238" iyz="0" izz="0.0076"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://drake_models/iiwa_description/meshes/iiwa14/visual/link_3.gltf"/>
</geometry>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://drake_models/iiwa_description/meshes/iiwa14/visual/band.gltf"/>
</geometry>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://drake_models/iiwa_description/meshes/iiwa14/visual/kuka.gltf"/>
</geometry>
</visual>
</link>
<!-- joint between link_3 and link_4 -->
<joint name="right_iiwa_joint_4" type="revolute">
<parent link="right_iiwa_link_3"/>
<child link="right_iiwa_link_4"/>
<origin rpy="1.570796326794897 0 0" xyz="0 0 0.2155"/>
<axis xyz="0 0 1"/>
<limit drake:acceleration="11.36" effort="176" lower="-2.09439510239" upper="2.09439510239" velocity="1.3089969389957472"/>
<dynamics damping="0.5"/>
</joint>
<link name="right_iiwa_link_4">
<inertial>
<origin rpy="0 0 0" xyz="0 0.067 0.034"/>
<mass value="3.5"/>
<!--2.74 kuka CAD value-->
<!--2.7 Original Drake URDF value-->
<inertia ixx="0.017" ixy="0" ixz="0" iyy="0.006" iyz="0" izz="0.0164"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://drake_models/iiwa_description/meshes/iiwa14/visual/link_4_orange.gltf"/>
</geometry>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://drake_models/iiwa_description/meshes/iiwa14/visual/link_4_grey.gltf"/>
</geometry>
</visual>
</link>
<!-- joint between link_4 and link_5 -->
<joint name="right_iiwa_joint_5" type="revolute">
<parent link="right_iiwa_link_4"/>
<child link="right_iiwa_link_5"/>
<origin rpy="-1.570796326794897 3.141592653589793 0" xyz="0 0.1845 0"/>
<axis xyz="0 0 1"/>
<limit drake:acceleration="12.23" effort="110" lower="-2.96705972839" upper="2.96705972839" velocity="2.2689280275926285"/>
<dynamics damping="0.5"/>
</joint>
<link name="right_iiwa_link_5">
<inertial>
<origin rpy="0 0 0" xyz="0.0001 0.021 0.076"/>
<mass value="3.5"/>
<!--1.69 kuka CAD value-->
<!--1.7 Original Drake URDF value-->
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.0087" iyz="0" izz="0.00449"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://drake_models/iiwa_description/meshes/iiwa14/visual/link_5.gltf"/>
</geometry>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://drake_models/iiwa_description/meshes/iiwa14/visual/band.gltf"/>
</geometry>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://drake_models/iiwa_description/meshes/iiwa14/visual/kuka.gltf"/>
</geometry>
</visual>
</link>
<!-- joint between link_5 and link_6 -->
<joint name="right_iiwa_joint_6" type="revolute">
<parent link="right_iiwa_link_5"/>
<child link="right_iiwa_link_6"/>
<origin rpy="1.570796326794897 0 0" xyz="0 0 0.2155"/>
<axis xyz="0 0 1"/>
<limit drake:acceleration="15.72" effort="40" lower="-2.09439510239" upper="2.09439510239" velocity="2.356194490192345"/>
<dynamics damping="0.5"/>
</joint>
<link name="right_iiwa_link_6">
<inertial>
<origin rpy="0 0 0" xyz="0 0.0006 0.0004"/>
<mass value="1.8"/>
<!--1.8 kuka CAD value-->
<!--1.8 Original Drake URDF value-->
<inertia ixx="0.0049" ixy="0" ixz="0" iyy="0.0047" iyz="0" izz="0.0036"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://drake_models/iiwa_description/meshes/iiwa14/visual/link_6_orange.gltf"/>
</geometry>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://drake_models/iiwa_description/meshes/iiwa14/visual/link_6_grey.gltf"/>
</geometry>
</visual>
</link>
<!-- joint between link_6 and link_7 -->
<joint name="right_iiwa_joint_7" type="revolute">
<parent link="right_iiwa_link_6"/>
<child link="right_iiwa_link_7"/>
<origin rpy="-1.570796326794897 3.141592653589793 0" xyz="0 0.081 0"/>
<axis xyz="0 0 1"/>
<limit drake:acceleration="15.72" effort="40" lower="-3.05432619099" upper="3.05432619099" velocity="2.356194490192345"/>
<dynamics damping="0.5"/>
</joint>
<link name="right_iiwa_link_7">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.02"/>
<mass value="1.2"/>
<!--0.31 kuka CAD value-->
<!--0.3 Original Drake URDF value-->
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://drake_models/iiwa_description/meshes/iiwa14/visual/link_7.gltf"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://drake_models/iiwa_description/meshes/iiwa14/collision/link_7_polytope.obj">
<drake:declare_convex/>
</mesh>
</geometry>
</collision>
</link>
<joint name="right_iiwa_joint_ee" type="fixed">
<parent link="right_iiwa_link_7"/>
<child link="right_iiwa_link_ee_kuka"/>
<origin rpy="3.141592653589793 3.141592653589793 3.141592653589793" xyz="0 0 0.045"/>
<axis xyz="0 0 1"/>
</joint>
<link name="right_iiwa_link_ee_kuka">
</link>
<joint name="right_iiwa_tool0_joint" type="fixed">
<parent link="right_iiwa_link_7"/>
<child link="right_iiwa_link_ee"/>
<origin rpy="0 -1.570796326794897 0" xyz="0 0 0.045"/>
</joint>
<link name="right_iiwa_link_ee">
</link>
<frame link="right_iiwa_link_ee" name="right_iiwa_frame_ee" rpy="3.141592653589793 0 1.570796326794897" xyz="0.09 0 0"/>
<drake:collision_filter_group name="right_iiwa_wrist">
<drake:member link="right_iiwa_link_5"/>
<drake:member link="right_iiwa_link_6"/>
<drake:member link="right_iiwa_link_7"/>
<drake:ignored_collision_filter_group name="right_iiwa_wrist"/>
</drake:collision_filter_group>
<!-- Load Gazebo lib and set the robot namespace -->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_controller">
<robotNamespace>/right_iiwa</robotNamespace>
</plugin>
</gazebo>
<!-- Link0 -->
<gazebo reference="iiwa_link_0">
<material>Gazebo/Grey</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- Link1 -->
<gazebo reference="iiwa_link_1">
<material>Gazebo/Orange</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- Link2 -->
<gazebo reference="iiwa_link_2">
<material>Gazebo/Orange</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- Link3 -->
<gazebo reference="iiwa_link_3">
<material>Gazebo/Orange</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- Link4 -->
<gazebo reference="iiwa_link_4">
<material>Gazebo/Orange</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- Link5 -->
<gazebo reference="iiwa_link_5">
<material>Gazebo/Orange</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- Link6 -->
<gazebo reference="iiwa_link_6">
<material>Gazebo/Orange</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- Link7 -->
<gazebo reference="iiwa_link_7">
<material>Gazebo/Grey</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<transmission name="right_iiwa_tran_1">
<robotNamespace>/right_iiwa</robotNamespace>
<type>transmission_interface/SimpleTransmission</type>
<joint name="right_iiwa_joint_1">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="right_iiwa_motor_1">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
<drake:gear_ratio value="160.0" />
<drake:rotor_inertia value="0.0001321" />
</actuator>
</transmission>
<transmission name="right_iiwa_tran_2">
<robotNamespace>/right_iiwa</robotNamespace>
<type>transmission_interface/SimpleTransmission</type>
<joint name="right_iiwa_joint_2">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="right_iiwa_motor_2">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
<drake:gear_ratio value="160.0" />
<drake:rotor_inertia value="0.0001321" />
</actuator>
</transmission>
<transmission name="right_iiwa_tran_3">
<robotNamespace>/right_iiwa</robotNamespace>
<type>transmission_interface/SimpleTransmission</type>
<joint name="right_iiwa_joint_3">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="right_iiwa_motor_3">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
<drake:gear_ratio value="160.0" />
<drake:rotor_inertia value="0.0001321" />
</actuator>
</transmission>
<transmission name="right_iiwa_tran_4">
<robotNamespace>/right_iiwa</robotNamespace>
<type>transmission_interface/SimpleTransmission</type>
<joint name="right_iiwa_joint_4">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="right_iiwa_motor_4">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
<drake:gear_ratio value="160.0" />
<drake:rotor_inertia value="0.0001321" />
</actuator>
</transmission>
<transmission name="right_iiwa_tran_5">
<robotNamespace>/right_iiwa</robotNamespace>
<type>transmission_interface/SimpleTransmission</type>
<joint name="right_iiwa_joint_5">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="right_iiwa_motor_5">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
<drake:gear_ratio value="100.0" />
<drake:rotor_inertia value="0.0001321" />
</actuator>
</transmission>
<transmission name="right_iiwa_tran_6">
<robotNamespace>/right_iiwa</robotNamespace>
<type>transmission_interface/SimpleTransmission</type>
<joint name="right_iiwa_joint_6">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="right_iiwa_motor_6">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
<drake:gear_ratio value="160.0" />
<drake:rotor_inertia value="0.0000454" />
</actuator>
</transmission>
<transmission name="right_iiwa_tran_7">
<robotNamespace>/right_iiwa</robotNamespace>
<type>transmission_interface/SimpleTransmission</type>
<joint name="right_iiwa_joint_7">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="right_iiwa_motor_7">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
<drake:gear_ratio value="160.0" />
<drake:rotor_inertia value="0.0000454" />
</actuator>
</transmission>
</robot>