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robot_description_wo_inertial
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robot_description_wo_inertial
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"<?xml version=\"1.0\" ?>\n<!-- ===================================================================================\
\ -->\n<!-- | This document was autogenerated by xacro from /home/benny/ros/katana_driver/katana_description/urdf/katana_300_6m180.urdf.xacro\
\ | -->\n<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED \
\ | -->\n<!-- ===================================================================================\
\ -->\n<robot name=\"katana_300_6m180\" xmlns:controller=\"http://playerstage.sourceforge.net/gazebo/xmlschema/#controller\"\
\ xmlns:interface=\"http://playerstage.sourceforge.net/gazebo/xmlschema/#interface\"\
\ xmlns:sensor=\"http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor\" xmlns:xacro=\"\
http://ros.org/wiki/xacro\">\n <transmission name=\"katana_motor1_pan_trans\" type=\"\
pr2_mechanism_model/SimpleTransmission\">\n <actuator name=\"katana_motor1_pan_motor\"\
/>\n <joint name=\"katana_motor1_pan_joint\"/>\n <mechanicalReduction>1</mechanicalReduction>\n\
\ <motorTorqueConstant>1</motorTorqueConstant>\n </transmission>\n <transmission\
\ name=\"katana_motor2_lift_trans\" type=\"pr2_mechanism_model/SimpleTransmission\"\
>\n <actuator name=\"katana_motor2_lift_motor\"/>\n <joint name=\"katana_motor2_lift_joint\"\
/>\n <mechanicalReduction>1</mechanicalReduction>\n <motorTorqueConstant>1</motorTorqueConstant>\n\
\ </transmission>\n <transmission name=\"katana_motor3_lift_trans\" type=\"pr2_mechanism_model/SimpleTransmission\"\
>\n <actuator name=\"katana_motor3_lift_motor\"/>\n <joint name=\"katana_motor3_lift_joint\"\
/>\n <mechanicalReduction>1</mechanicalReduction>\n <motorTorqueConstant>1</motorTorqueConstant>\n\
\ </transmission>\n <transmission name=\"katana_motor4_lift_trans\" type=\"pr2_mechanism_model/SimpleTransmission\"\
>\n <actuator name=\"katana_motor4_lift_motor\"/>\n <joint name=\"katana_motor4_lift_joint\"\
/>\n <mechanicalReduction>1</mechanicalReduction>\n <motorTorqueConstant>1</motorTorqueConstant>\n\
\ </transmission>\n <transmission name=\"katana_motor5_wrist_roll_trans\" type=\"\
pr2_mechanism_model/SimpleTransmission\">\n <actuator name=\"katana_motor5_wrist_roll_motor\"\
/>\n <joint name=\"katana_motor5_wrist_roll_joint\"/>\n <mechanicalReduction>1</mechanicalReduction>\n\
\ <motorTorqueConstant>1</motorTorqueConstant>\n </transmission>\n <transmission\
\ name=\"katana_r_finger_trans\" type=\"pr2_mechanism_model/SimpleTransmission\"\
>\n <actuator name=\"katana_r_finger_motor\"/>\n <joint name=\"katana_r_finger_joint\"\
/>\n <mechanicalReduction>1</mechanicalReduction>\n <motorTorqueConstant>1</motorTorqueConstant>\n\
\ </transmission>\n <transmission name=\"katana_l_finger_trans\" type=\"pr2_mechanism_model/SimpleTransmission\"\
>\n <actuator name=\"katana_l_finger_motor\"/>\n <joint name=\"katana_l_finger_joint\"\
/>\n <mechanicalReduction>1</mechanicalReduction>\n <motorTorqueConstant>1</motorTorqueConstant>\n\
\ </transmission>\n <gazebo>\n <!-- controller for the 5 arm joints -->\n \
\ <controller:gazebo_ros_controller_manager name=\"gazebo_ros_controller_manager\"\
\ plugin=\"libgazebo_ros_controller_manager.so\">\n <alwaysOn>true</alwaysOn>\n\
\ <updateRate>1000.0</updateRate>\n <interface:audio name=\"gazebo_ros_controller_manager_dummy_iface\"\
/>\n </controller:gazebo_ros_controller_manager>\n <!-- gripper controller\
\ -->\n <controller:gazebo_ros_katana_gripper name=\"katana_gripper_controller\"\
\ plugin=\"libgazebo_ros_katana_gripper.so\">\n <alwaysOn>true</alwaysOn>\n\
\ <node_namespace>katana</node_namespace>\n <r_finger_joint>katana_r_finger_joint</r_finger_joint>\n\
\ <l_finger_joint>katana_l_finger_joint</l_finger_joint>\n <updateRate>1000.0</updateRate>\n\
\ <max_torque>0.5</max_torque>\n </controller:gazebo_ros_katana_gripper>\n\
\ </gazebo>\n <gazebo reference=\"katana_base_link\">\n <material value=\"\
Gazebo/Grey\"/>\n </gazebo>\n <gazebo reference=\"katana_motor1_pan_link\">\n\
\ <material value=\"Gazebo/Grey\"/>\n <turnGravityOff>true</turnGravityOff>\n\
\ </gazebo>\n <gazebo reference=\"katana_motor2_lift_link\">\n <material value=\"\
Gazebo/Grey\"/>\n <turnGravityOff>true</turnGravityOff>\n </gazebo>\n <gazebo\
\ reference=\"katana_motor3_lift_link\">\n <material value=\"Gazebo/Grey\"/>\n\
\ <turnGravityOff>true</turnGravityOff>\n </gazebo>\n <gazebo reference=\"\
katana_motor4_lift_link\">\n <material value=\"Gazebo/Grey\"/>\n <turnGravityOff>true</turnGravityOff>\n\
\ </gazebo>\n <gazebo reference=\"katana_motor5_wrist_roll_link\">\n <material\
\ value=\"Gazebo/Grey\"/>\n <turnGravityOff>true</turnGravityOff>\n </gazebo>\n\
\ <gazebo reference=\"katana_gripper_link\">\n <material value=\"Gazebo/Grey\"\
/>\n <turnGravityOff>true</turnGravityOff>\n </gazebo>\n <gazebo reference=\"\
katana_r_finger_link\">\n <material value=\"Gazebo/Grey\"/>\n <turnGravityOff>true</turnGravityOff>\n\
\ </gazebo>\n <gazebo reference=\"katana_l_finger_link\">\n <material value=\"\
Gazebo/Grey\"/>\n <turnGravityOff>true</turnGravityOff>\n </gazebo>\n <gazebo\
\ reference=\"katana_motor1_pan_joint\">\n <initial_joint_position>-3.022</initial_joint_position>\n\
\ </gazebo>\n <gazebo reference=\"katana_motor2_lift_joint\">\n <initial_joint_position>2.163</initial_joint_position>\n\
\ </gazebo>\n <gazebo reference=\"katana_motor3_lift_joint\">\n <initial_joint_position>-2.207</initial_joint_position>\n\
\ </gazebo>\n <gazebo reference=\"katana_motor4_lift_joint\">\n <initial_joint_position>-2.026</initial_joint_position>\n\
\ </gazebo>\n <gazebo reference=\"katana_motor5_wrist_roll_joint\">\n <initial_joint_position>-2.990</initial_joint_position>\n\
\ </gazebo>\n <gazebo reference=\"katana_r_finger_joint\">\n <initial_joint_position>0.3</initial_joint_position>\n\
\ </gazebo>\n <gazebo reference=\"katana_l_finger_joint\">\n <initial_joint_position>0.3</initial_joint_position>\n\
\ </gazebo>\n <!-- all values from the katana manual -->\n <!-- All inertial\
\ values (mass, center of mass and inertia tensor) have been\n calculated\
\ from the meshes using MeshLab -->\n <!-- lower + upper joint limits have been\
\ calculated using the KNI's GetEncoderMinPos(), GetEncoderMaxPos();\n the\
\ velocity limit has been calculated by vel_enc2rad(180); 180 encoders / 10ms is\
\ the maximum\n speed limit for all joints, according to the Katana 4D documentation\
\ -->\n <!-- the effort limits have been measured experimentally from the maximum\
\ effort the Gazebo controller \n uses in normal conditions -->\n <link name=\"\
katana_base_link\">\n <visual>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n\
\ <geometry>\n <mesh filename=\"package://katana_description/meshes/katana/katana_base_link.stl\"\
/>\n </geometry>\n <material name=\"grey\">\n <color rgba=\"0.8\
\ 0.8 0.8 1\"/>\n </material>\n </visual>\n <collision>\n <origin\
\ rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n <geometry>\n <mesh filename=\"package://katana_description/meshes/katana/convex/katana_base_link_convex.stl\"\
/>\n </geometry>\n </collision>\n <!--<inertial>\n <mass value=\"1.4047990875\"\
/>\n <origin xyz=\"-0.000327 0.000908 0.058457\"/>\n <inertia ixx=\"0.003000703\"\
\ ixy=\"0.000000864\" ixz=\"-0.000011312\" iyy=\"0.002974822\" iyz=\"0.000036294\"\
\ izz=\"0.001434739\"/>\n </inertial>-->\n </link>\n <joint name=\"katana_motor1_pan_joint\"\
\ type=\"revolute\">\n <!-- Joint 1 in Katana Manual -->\n <parent link=\"\
katana_base_link\"/>\n <child link=\"katana_motor1_pan_link\"/>\n <origin\
\ rpy=\"0 0 0\" xyz=\"0 0 0.2015\"/>\n <axis xyz=\"0 0 1\"/>\n <limit effort=\"\
1.5\" lower=\"-3.025528\" upper=\"2.891097\" velocity=\"2.208932\"/>\n </joint>\n\
\ <link name=\"katana_motor1_pan_link\">\n <visual>\n <origin rpy=\"0 0\
\ 0\" xyz=\"0 0 -0.2015\"/>\n <geometry>\n <mesh filename=\"package://katana_description/meshes/katana/katana_motor1_pan_link.stl\"\
/>\n </geometry>\n <material name=\"grey\"/>\n </visual>\n <collision>\n\
\ <origin rpy=\"0 0 0\" xyz=\"0 0 -0.2015\"/>\n <geometry>\n <mesh\
\ filename=\"package://katana_description/meshes/katana/convex/katana_motor1_pan_link_convex.stl\"\
/>\n </geometry>\n </collision>\n <inertial>\n <mass value=\"0.74793301875\"\
/>\n <origin xyz=\"-0.000410 -0.001285 -0.016774\"/>\n <inertia ixx=\"\
0.001737241\" ixy=\"0.000000421\" ixz=\"0.000000650\" iyy=\"0.000998782\" iyz=\"\
0.000016114\" izz=\"0.001349170\"/>\n </inertial>\n </link>\n <joint name=\"\
katana_motor2_lift_joint\" type=\"revolute\">\n <!-- Joint 2 in Katana Manual\
\ -->\n <parent link=\"katana_motor1_pan_link\"/>\n <child link=\"katana_motor2_lift_link\"\
/>\n <origin rpy=\"1.57079632679 0 0\" xyz=\"0 0 0\"/>\n <axis xyz=\"0 0 1\"\
/>\n <limit effort=\"0.6\" lower=\"-0.135228\" upper=\"2.168572\" velocity=\"\
1.190799\"/>\n </joint>\n <link name=\"katana_motor2_lift_link\">\n <visual>\n\
\ <origin rpy=\"-1.57079632679 0 0\" xyz=\"0 0 0\"/>\n <geometry>\n \
\ <mesh filename=\"package://katana_description/meshes/katana/katana_motor2_lift_link.stl\"\
/>\n </geometry>\n <!-- <geometry>\n <cylinder length=\"${link2_length}\"\
\ radius=\"0.02\"/>\n </geometry>\n <origin rpy=\"0 ${-M_PI/2} 0\"\
\ xyz=\"${link2_length/2} 0 0\" /> -->\n <material name=\"grey\"/>\n </visual>\n\
\ <collision>\n <origin rpy=\"-1.57079632679 0 0\" xyz=\"0 0 0\"/>\n \
\ <geometry>\n <mesh filename=\"package://katana_description/meshes/katana/convex/katana_motor2_lift_link_convex.stl\"\
/>\n </geometry>\n </collision>\n <inertial>\n <mass value=\"0.80174941875\"\
/>\n <origin xyz=\"0.092420 0.005283 0.000172\"/>\n <inertia ixx=\"0.000478252\"\
\ ixy=\"0.000081166\" ixz=\"0.000003961\" iyy=\"0.004314636\" iyz=\"0.000000332\"\
\ izz=\"0.004625444\"/>\n </inertial>\n </link>\n <joint name=\"katana_motor3_lift_joint\"\
\ type=\"revolute\">\n <!-- Joint 3 in Katana Manual -->\n <parent link=\"\
katana_motor2_lift_link\"/>\n <child link=\"katana_motor3_lift_link\"/>\n \
\ <origin rpy=\"0 0 0\" xyz=\"0.19 0 0\"/>\n <axis xyz=\"0 0 1\"/>\n <!--\
\ unexplicably, the measured velocity limit of this motor is exactly half of what\
\ vel_enc2rad(180) says -->\n <limit effort=\"0.25\" lower=\"-2.221804\" upper=\"\
2.054223\" velocity=\"1.190799\"/>\n </joint>\n <link name=\"katana_motor3_lift_link\"\
>\n <visual>\n <origin rpy=\"-1.57079632679 0 0\" xyz=\"0 0 0\"/>\n \
\ <geometry>\n <mesh filename=\"package://katana_description/meshes/katana/katana_motor3_lift_link.stl\"\
/>\n </geometry>\n <!--<geometry>\n <cylinder length=\"${link3_length}\"\
\ radius=\"0.02\"/>\n </geometry>\n <origin rpy=\"0 ${-M_PI/2} 0\"\
\ xyz=\"${link3_length/2} 0 0\" />-->\n <material name=\"grey\"/>\n </visual>\n\
\ <collision>\n <origin rpy=\"-1.57079632679 0 0\" xyz=\"0 0 0\"/>\n \
\ <geometry>\n <mesh filename=\"package://katana_description/meshes/katana/convex/katana_motor3_lift_link_convex.stl\"\
/>\n </geometry>\n </collision>\n <inertial>\n <mass value=\"0.79241664375\"\
/>\n <origin xyz=\"0.058036 0.008963 -0.000187\"/>\n <inertia ixx=\"0.001156089\"\
\ ixy=\"0.000112877\" ixz=\"-0.000004398\" iyy=\"0.002305646\" iyz=\"-0.000000036\"\
\ izz=\"0.003128648\"/>\n </inertial>\n </link>\n <joint name=\"katana_motor4_lift_joint\"\
\ type=\"revolute\">\n <!-- Joint 4 in Katana Manual -->\n <parent link=\"\
katana_motor3_lift_link\"/>\n <child link=\"katana_motor4_lift_link\"/>\n \
\ <origin rpy=\"3.14159265359 0 0\" xyz=\"0.139 0 0\"/>\n <axis xyz=\"0 0 1\"\
/>\n <limit effort=\"0.1\" lower=\"-2.033309\" upper=\"1.876133\" velocity=\"\
2.208932\"/>\n </joint>\n <link name=\"katana_motor4_lift_link\">\n <visual>\n\
\ <origin rpy=\"1.57079632679 0 0\" xyz=\"0 0 0\"/>\n <geometry>\n \
\ <mesh filename=\"package://katana_description/meshes/katana/katana_motor4_lift_link.stl\"\
/>\n </geometry>\n <!-- <geometry>\n <cylinder length=\"${link4_length}\"\
\ radius=\"0.02\"/>\n </geometry>\n <origin rpy=\"0 ${-M_PI/2} 0\"\
\ xyz=\"${link4_length/2} 0 0\" /> -->\n <material name=\"grey\"/>\n </visual>\n\
\ <collision>\n <origin rpy=\"1.57079632679 0 0\" xyz=\"0 0 0\"/>\n \
\ <geometry>\n <mesh filename=\"package://katana_description/meshes/katana/convex/katana_motor4_lift_link_convex.stl\"\
/>\n </geometry>\n </collision>\n <inertial>\n <mass value=\"0.69149323125\"\
/>\n <origin xyz=\"0.050401 0.005807 0.000000\"/>\n <inertia ixx=\"0.000765999\"\
\ ixy=\"0.000045260\" ixz=\"-0.000001210\" iyy=\"0.001504115\" iyz=\"0.000000147\"\
\ izz=\"0.001887277\"/>\n </inertial>\n </link>\n <joint name=\"katana_motor5_wrist_roll_joint\"\
\ type=\"revolute\">\n <!-- Joint 5 in Katana Manual -->\n <parent link=\"\
katana_motor4_lift_link\"/>\n <child link=\"katana_motor5_wrist_roll_link\"/>\n\
\ <origin rpy=\"1.57079632679 0 -1.57079632679\" xyz=\"0.1523 0 0\"/>\n <axis\
\ xyz=\"0 0 1\"/>\n <limit effort=\"0.01\" lower=\"-2.993240\" upper=\"2.870985\"\
\ velocity=\"2.208932\"/>\n </joint>\n <link name=\"katana_motor5_wrist_roll_link\"\
>\n <visual>\n <origin rpy=\"0 3.14159265359 0\" xyz=\"0 0 0\"/>\n \
\ <geometry>\n <mesh filename=\"package://katana_description/meshes/katana/katana_motor5_wrist_roll_link.stl\"\
/>\n </geometry>\n <!--<geometry>\n <cylinder length=\"${link5_length}\"\
\ radius=\"0.02\"/>\n </geometry>\n <origin rpy=\"0 ${-M_PI/2} 0\"\
\ xyz=\"${link5_length/2} 0 0\" />-->\n <material name=\"grey\"/>\n </visual>\n\
\ <collision>\n <origin rpy=\"0 3.14159265359 0\" xyz=\"0 0 0\"/>\n \
\ <geometry>\n <mesh filename=\"package://katana_description/meshes/katana/convex/katana_motor5_wrist_roll_link_convex.stl\"\
/>\n </geometry>\n </collision>\n <inertial>\n <mass value=\"0.25622555625\"\
/>\n <origin xyz=\"-0.003140899 0.000013920 0.001680144\"/>\n <inertia\
\ ixx=\"0.000120481\" ixy=\"0.000000015\" ixz=\"-0.000001089\" iyy=\"0.000132130\"\
\ iyz=\"-0.000000124\" izz=\"0.000093522\"/>\n </inertial>\n </link>\n <joint\
\ name=\"katana_gripper_joint\" type=\"fixed\">\n <parent link=\"katana_motor5_wrist_roll_link\"\
/>\n <child link=\"katana_gripper_link\"/>\n <origin rpy=\"0 1.57079632679\
\ 0\" xyz=\"0 0 -0.0323\"/>\n </joint>\n <link name=\"katana_gripper_link\">\n\
\ <visual>\n <origin rpy=\"0 3.14159265359 0\" xyz=\"0 0 0\"/>\n <geometry>\n\
\ <mesh filename=\"package://katana_description/meshes/katana/katana_gripper_link.stl\"\
/>\n </geometry>\n <material name=\"grey\"/>\n </visual>\n <collision>\n\
\ <origin rpy=\"0 3.14159265359 0\" xyz=\"0 0 0\"/>\n <geometry>\n \
\ <mesh filename=\"package://katana_description/meshes/katana/convex/katana_gripper_link_convex.stl\"\
/>\n </geometry>\n </collision>\n <inertial>\n <mass value=\"0.0552136183596\"\
/>\n <origin xyz=\"-0.014379 -0.000000 0.000006\"/>\n <inertia ixx=\"\
0.000011468\" ixy=\"0.000000000\" ixz=\"0.000000007\" iyy=\"0.000013830\" iyz=\"\
0.000000000\" izz=\"0.000011290\"/>\n </inertial>\n </link>\n <joint name=\"\
katana_r_finger_joint\" type=\"revolute\">\n <parent link=\"katana_gripper_link\"\
/>\n <child link=\"katana_r_finger_link\"/>\n <origin rpy=\"0 0 0\" xyz=\"\
0.034 0 0\"/>\n <axis xyz=\"0 0 1\"/>\n <limit effort=\"0.5\" lower=\"-0.44\"\
\ upper=\"0.30\" velocity=\"0.718834\"/>\n </joint>\n <link name=\"katana_r_finger_link\"\
>\n <visual>\n <origin rpy=\"0 3.14159265359 0\" xyz=\"0 0 0\"/>\n \
\ <geometry>\n <mesh filename=\"package://katana_description/meshes/katana/katana_gripper_r_finger.stl\"\
/>\n </geometry>\n <material name=\"grey\"/>\n </visual>\n <collision>\n\
\ <origin rpy=\"0 3.14159265359 0\" xyz=\"0 0 0\"/>\n <geometry>\n \
\ <mesh filename=\"package://katana_description/meshes/katana/convex/katana_gripper_r_finger_convex.stl\"\
/>\n </geometry>\n </collision>\n <inertial>\n <mass value=\"0.0251722230462\"\
/>\n <origin xyz=\"0.001784 0.025167 -.001603\"/>\n <inertia ixx=\"0.000005990\"\
\ ixy=\"0.000008473\" ixz=\"0.000001448\" iyy=\"0.000019757\" iyz=\"-0.000000996\"\
\ izz=\"0.000023588\"/>\n </inertial>\n </link>\n <joint name=\"katana_l_finger_joint\"\
\ type=\"revolute\">\n <parent link=\"katana_gripper_link\"/>\n <child link=\"\
katana_l_finger_link\"/>\n <origin rpy=\"3.14159265359 0 0\" xyz=\"0.034 0 0\"\
/>\n <axis xyz=\"0 0 1\"/>\n <limit effort=\"0.5\" lower=\"-0.44\" upper=\"\
0.30\" velocity=\"0.718834\"/>\n </joint>\n <link name=\"katana_l_finger_link\"\
>\n <visual>\n <origin rpy=\"0 3.14159265359 0\" xyz=\"0 0 0\"/>\n \
\ <geometry>\n <mesh filename=\"package://katana_description/meshes/katana/katana_gripper_l_finger.stl\"\
/>\n </geometry>\n <material name=\"grey\"/>\n </visual>\n <collision>\n\
\ <origin rpy=\"0 3.14159265359 0\" xyz=\"0 0 0\"/>\n <geometry>\n \
\ <mesh filename=\"package://katana_description/meshes/katana/convex/katana_gripper_l_finger_convex.stl\"\
/>\n </geometry>\n </collision>\n <inertial>\n <mass value=\"0.0251722230462\"\
/>\n <origin xyz=\"0.001784 0.025167 -.001603\"/>\n <inertia ixx=\"0.000005990\"\
\ ixy=\"0.000008473\" ixz=\"0.000001448\" iyy=\"0.000019757\" iyz=\"-0.000000996\"\
\ izz=\"0.000023588\"/>\n </inertial>\n </link>\n <joint name=\"katana_gripper_tool_frame_joint\"\
\ type=\"fixed\">\n <parent link=\"katana_motor5_wrist_roll_link\"/>\n <child\
\ link=\"katana_gripper_tool_frame\"/>\n <origin rpy=\"0 1.57079632679 0\" xyz=\"\
0 0 -0.1505\"/>\n </joint>\n <link name=\"katana_gripper_tool_frame\">\n <!--\
\ This is the coordinate system of the tool (this is the position\n used\
\ in IK etc., relative to the base frame); there is no actual\n arm part\
\ attached to this link -->\n </link>\n <!-- ****************************************************************\
\ -->\n <joint name=\"katana_base_frame_joint\" type=\"fixed\">\n <parent link=\"\
katana_base_link\"/>\n <child link=\"katana_base_frame\"/>\n <origin rpy=\"\
0 0 0\" xyz=\"0 0 0.2015\"/>\n </joint>\n <link name=\"katana_base_frame\">\n\
\ <!-- This is the reference coordinate system of the arm (the KNI kinematics\
\ are specified\n in this frame); there is no actual arm part attached to\
\ this link -->\n </link>\n</robot>\n\n"