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Gazebo simulation #60

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4b60016
Add Gazebo simulation
renarded Sep 23, 2019
227767b
Add Gazebo README
renarded Sep 23, 2019
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369 changes: 369 additions & 0 deletions niryo_one_description/urdf/v2/gazebo_niryo_one.urdf.xacro
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<?xml version="1.0"?>

<!--
niryo_one.urdf.xacro
Copyright (C) 2019 Niryo
All rights reserved.

This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.

This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.

You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
-->

<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="niryo_one">

<!-- Properties -->

<xacro:property name="distance_origin_shoulder_z" value="0.103" />
<xacro:property name="distance_shoulder_arm_z" value="0.080" />
<xacro:property name="distance_arm_elbow_x" value="0.210" />
<xacro:property name="distance_arm_elbow_y" value="0.0" />
<xacro:property name="distance_elbow_forearm_x" value="0.0415" />
<xacro:property name="distance_elbow_forearm_y" value="0.030" />
<xacro:property name="distance_forearm_wrist_z" value="0.180" />
<xacro:property name="distance_wrist_hand_x" value="0.0164" />
<xacro:property name="distance_wrist_hand_y" value="-0.0055" />
<xacro:property name="distance_hand_tool" value="0.0073" />

<xacro:property name="PI" value="3.14159265359" />

<xacro:property name="limit_low_shoulder_rotation" value="-3.05433" />
<xacro:property name="limit_up_shoulder_rotation" value="3.05433" />
<xacro:property name="limit_low_arm_rotation" value="-1.91986" />
<xacro:property name="limit_up_arm_rotation" value="0.640187" />
<xacro:property name="limit_low_elbow_rotation" value="-1.397485" />
<xacro:property name="limit_up_elbow_rotation" value="${PI/2}" />
<xacro:property name="limit_low_forearm_rotation" value="-3.05433" />
<xacro:property name="limit_up_forearm_rotation" value="3.05433" />
<xacro:property name="limit_low_wrist_rotation" value="-1.74533" />
<xacro:property name="limit_up_wrist_rotation" value="1.91986" />
<xacro:property name="limit_low_hand_rotation" value="-2.57436" />
<xacro:property name="limit_up_hand_rotation" value="2.57436" />

<!-- Links -->

<link name="world" />

<link name="base_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://niryo_one_description/meshes/v2/collada/base_link.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://niryo_one_description/meshes/v2/stl/base_link.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0 0 ${distance_origin_shoulder_z / 2}" rpy="0 0 0" />
<mass value="1.2" />
<inertia ixx="0.0015" ixy="0.0" ixz="0.0" iyy="0.0015" iyz="0.0" izz="0.0015"/>
</inertial>
</link>

<link name="shoulder_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://niryo_one_description/meshes/v2/collada/shoulder_link.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://niryo_one_description/meshes/v2/stl/shoulder_link.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0 0 ${distance_shoulder_arm_z / 2}" rpy="0 0 0" />
<mass value="0.8" />
<inertia ixx="0.0015" ixy="0.0" ixz="0.0" iyy="0.0015" iyz="0.0" izz="0.0015"/>
</inertial>
</link>

<link name="arm_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://niryo_one_description/meshes/v2/collada/arm_link.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://niryo_one_description/meshes/v2/stl/arm_link.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="${distance_arm_elbow_x / 2} -0.1 0" rpy="0 0 0" />
<mass value="0.4" />
<inertia ixx="0.0015" ixy="0.0" ixz="0.0" iyy="0.0015" iyz="0.0" izz="0.0015"/>
</inertial>
</link>

<link name="elbow_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://niryo_one_description/meshes/v2/collada/elbow_link.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://niryo_one_description/meshes/v2/stl/elbow_link.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="${distance_elbow_forearm_x / 2} ${distance_elbow_forearm_y / 2} 0" rpy="0 0 0" />
<mass value="0.3" />
<inertia ixx="0.0015" ixy="0.0" ixz="0.0" iyy="0.0015" iyz="0.0" izz="0.0015"/>
</inertial>
</link>

<link name="forearm_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://niryo_one_description/meshes/v2/collada/forearm_link.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://niryo_one_description/meshes/v2/stl/forearm_link.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0 0 ${distance_forearm_wrist_z / 2}" rpy="0 0 0" />
<mass value="0.3" />
<inertia ixx="0.0015" ixy="0.0" ixz="0.0" iyy="0.0015" iyz="0.0" izz="0.0015"/>
</inertial>
</link>

<link name="wrist_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://niryo_one_description/meshes/v2/collada/wrist_link.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://niryo_one_description/meshes/v2/stl/wrist_link.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="${distance_wrist_hand_x / 2} ${distance_wrist_hand_y / 2} 0" rpy="0 0 0" />
<mass value="0.15" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
</inertial>
</link>

<link name="hand_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://niryo_one_description/meshes/v2/collada/hand_link.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://niryo_one_description/meshes/v2/stl/hand_link.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0 0 ${distance_hand_tool / 2}" rpy="0 0 0" />
<mass value="0.05" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
</inertial>
</link>

<link name="tool_link">
</link>

<!--Joints -->

<joint name="joint_world" type="fixed">
<parent link="world"/>
<child link="base_link"/>
<origin xyz="0 0 0" rpy="0 0 0" />
</joint>

<joint name="joint_1" type="revolute">
<parent link="base_link" />
<child link="shoulder_link" />
<origin xyz="0 0 ${distance_origin_shoulder_z}" rpy="0 0 0" />
<axis xyz="0 0 1" />
<limit effort="100.0" velocity="3.0" lower="${limit_low_shoulder_rotation}" upper="${limit_up_shoulder_rotation}" />
<dynamics damping="0.1" friction="0.0" />
</joint>

<joint name="joint_2" type="revolute">
<parent link="shoulder_link" />
<child link="arm_link" />
<origin xyz="0 0 ${distance_shoulder_arm_z}" rpy="${PI/2} ${-PI/2} 0" />
<limit effort="100.0" velocity="3.0" lower="${limit_low_arm_rotation}" upper="${limit_up_arm_rotation}" />
<axis xyz="0 0 1" />
<dynamics damping="0.1" friction="0.0" />
</joint>

<joint name="joint_3" type="revolute">
<parent link="arm_link" />
<child link="elbow_link" />
<origin xyz="${distance_arm_elbow_x} ${distance_arm_elbow_y} 0" rpy="0 0 ${-PI/2}" />
<limit effort="100.0" velocity="3.0" lower="${limit_low_elbow_rotation}" upper="${limit_up_elbow_rotation}" />
<axis xyz="0 0 1" />
<dynamics damping="0.1" friction="0.0" />
</joint>

<joint name="joint_4" type="revolute">
<parent link="elbow_link" />
<child link="forearm_link" />
<origin xyz="${distance_elbow_forearm_x} ${distance_elbow_forearm_y} 0" rpy="0 ${PI/2} 0" />
<limit effort="100.0" velocity="3.0" lower="${limit_low_forearm_rotation}" upper="${limit_up_forearm_rotation}" />
<axis xyz="0 0 1" />
<dynamics damping="0.1" friction="0.0" />
</joint>

<joint name="joint_5" type="revolute">
<parent link="forearm_link" />
<child link="wrist_link" />
<origin xyz="0 0 ${distance_forearm_wrist_z}" rpy="0 ${-PI/2} 0" />
<limit effort="100.0" velocity="3.0" lower="${limit_low_wrist_rotation}" upper="${limit_up_wrist_rotation}" />
<axis xyz="0 0 1" />
<dynamics damping="0.1" friction="0.0" />
</joint>

<joint name="joint_6" type="revolute">
<parent link="wrist_link" />
<child link="hand_link" />
<origin xyz="${distance_wrist_hand_x} ${distance_wrist_hand_y} 0" rpy="0 ${PI/2} 0" />
<limit effort="100.0" velocity="3.0" lower="${limit_low_hand_rotation}" upper="${limit_up_hand_rotation}" />
<axis xyz="0 0 1" />
<dynamics damping="0.1" friction="0.0" />
</joint>

<joint name="hand_tool_joint" type="fixed">
<parent link="hand_link" />
<child link="tool_link" />
<origin xyz="0 0 ${distance_hand_tool}" rpy="${-PI/2} ${-PI/2} 0" />
</joint>

<transmission name="transmission_1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint_1">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_1">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>

<transmission name="transmission_2">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint_2">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_2">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>

<transmission name="transmission_3">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint_3">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_3">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>

<transmission name="transmission_4">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint_4">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_4">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>

<transmission name="transmission_5">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint_5">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_5">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>

<transmission name="transmission_6">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint_6">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_6">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>

<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
</plugin>
</gazebo>

<gazebo reference="base_link">
<selfCollide>true</selfCollide>
</gazebo>

<gazebo reference="shoulder_link">
<selfCollide>true</selfCollide>
</gazebo>

<gazebo reference="arm_link">
<selfCollide>true</selfCollide>
</gazebo>

<gazebo reference="elbow_link">
<selfCollide>true</selfCollide>
</gazebo>

<gazebo reference="forearm_link">
<selfCollide>true</selfCollide>
</gazebo>

<gazebo reference="wrist_link">
<selfCollide>true</selfCollide>
</gazebo>

<gazebo reference="hand_link">
<selfCollide>true</selfCollide>
</gazebo>

<gazebo reference="tool_link">
</gazebo>

</robot>
6 changes: 6 additions & 0 deletions niryo_one_gazebo/CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(niryo_one_gazebo)

find_package(catkin REQUIRED)

catkin_package()
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