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franka_robot_multibody_collision.urdf
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<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from config/franka_only_collision_checking.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="franka">
<link name="base_link"/>
<link name="base_aa"/>
<joint name="base_aa_joint" type="fixed">
<parent link="base_link"/>
<child link="base_aa"/>
<origin rpy="0 0 0" xyz="0.01905 -0.04134 0.0"/>
</joint>
<joint name="franka_joint_base_aa" type="fixed">
<parent link="base_aa"/>
<child link="franka_link0"/>
<origin rpy="0 0 1.5708" xyz="0 0 0"/>
</joint>
<link name="franka_link0">
<!-- <visual>
<geometry>
<mesh filename="meshes/collision/link0.obj"/>
</geometry>
</visual> -->
<visual>
<origin rpy="0 0 0" xyz="-0.041 0 0.0705"/>
<geometry>
<box size="0.227 0.2 0.141"/>
</geometry>
</visual>
</link>
<link name="franka_link1">
<!-- <collision>
<geometry>
<mesh filename="meshes/collision/link1.obj"/>
</geometry>
</collision> -->
<!-- <visual>
<geometry>
<mesh filename="meshes/collision/link1.obj"/>
</geometry>
</visual> -->
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.137"/>
<geometry>
<!-- <cylinder length="0.112" radius="0.0575" /> -->
<!-- no clamp on robot -->
<cylinder length="0.112" radius="0.0825"/>
<!-- clamp on robot -->
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 -0.137"/>
<geometry>
<!-- <cylinder length="0.112" radius="0.0575" /> -->
<!-- no clamp on robot -->
<cylinder length="0.112" radius="0.0825"/>
<!-- clamp on robot -->
</geometry>
</visual>
<collision>
<origin rpy="0.4799655 0 0" xyz="0 -0.0416 -0.0707"/>
<geometry>
<box size="0.115 0.09 0.112"/>
</geometry>
</collision>
<visual>
<origin rpy="0.4799655 0 0" xyz="0 -0.0416 -0.0707"/>
<geometry>
<box size="0.115 0.09 0.112"/>
</geometry>
</visual>
<collision>
<origin rpy="1.5708 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.264" radius="0.0575"/>
</geometry>
</collision>
<visual>
<origin rpy="1.5708 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.264" radius="0.0575"/>
</geometry>
</visual>
</link>
<joint name="franka_joint1" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="0.6"/>
<origin rpy="0 0 0" xyz="0 0 0.333"/>
<parent link="franka_link0"/>
<child link="franka_link1"/>
<axis xyz="0 0 1"/>
<limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
</joint>
<link name="franka_link2">
<!-- <collision>
<geometry>
<cylinder radius="0.09" length="0.25"/>
<mesh filename="meshes/collision/link2.obj"/>
</geometry>
</collision> -->
<!-- <visual>
<geometry>
<cylinder radius="0.09" length="0.25"/>
<mesh filename="meshes/collision/link2.obj"/>
</geometry>
</visual> -->
<collision>
<origin rpy="-1.090831 0 0" xyz="0 -0.0795 0.0401"/>
<geometry>
<box size="0.115 0.09 0.112"/>
</geometry>
</collision>
<visual>
<origin rpy="-1.090831 0 0" xyz="0 -0.0795 0.0401"/>
<geometry>
<box size="0.115 0.09 0.112"/>
</geometry>
</visual>
<collision>
<origin rpy="1.5708 0 0" xyz="0 -0.197 0"/>
<geometry>
<cylinder length="0.214" radius="0.0575"/>
</geometry>
</collision>
<visual>
<origin rpy="1.5708 0 0" xyz="0 -0.197 0"/>
<geometry>
<cylinder length="0.214" radius="0.0575"/>
</geometry>
</visual>
</link>
<joint name="franka_joint2" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="0.6"/>
<origin rpy="-1.57079632679 0 0" xyz="0 0 0"/>
<parent link="franka_link1"/>
<child link="franka_link2"/>
<axis xyz="0 0 1"/>
<limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750"/>
</joint>
<link name="franka_link3">
<!-- <collision>
<geometry>
<mesh filename="meshes/collision/link3.obj"/>
</geometry>
</collision> -->
<!-- <visual>
<geometry>
<mesh filename="meshes/collision/link3.obj"/>
</geometry>
</visual> -->
<collision>
<origin rpy="0 0.785 0" xyz="0.045 0.028 -0.0333"/>
<geometry>
<box size="0.085 0.095 0.05"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0.785 0" xyz="0.045 0.028 -0.0333"/>
<geometry>
<box size="0.085 0.095 0.05"/>
</geometry>
</visual>
<collision>
<origin rpy="1.5708 0 0" xyz="0.0825 0 0"/>
<geometry>
<cylinder length="0.226" radius="0.0575"/>
</geometry>
</collision>
<visual>
<origin rpy="1.5708 0 0" xyz="0.0825 0 0"/>
<geometry>
<cylinder length="0.226" radius="0.0575"/>
</geometry>
</visual>
</link>
<joint name="franka_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="franka_link2"/>
<child link="franka_link3"/>
<axis xyz="0 0 1"/>
<limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
</joint>
<link name="franka_link4">
<!-- <collision>
<geometry>
<mesh filename="meshes/collision/link4.obj"/>
</geometry>
</collision> -->
<!-- <visual>
<geometry>
<mesh filename="meshes/collision/link4.obj"/>
</geometry>
</visual> -->
<collision>
<origin rpy="0 0 0.785" xyz="-0.0417 0.0388 0.0275"/>
<geometry>
<box size="0.085 0.05 0.095"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0.785" xyz="-0.0417 0.0388 0.0275"/>
<geometry>
<box size="0.085 0.05 0.095"/>
</geometry>
</visual>
<collision>
<origin rpy="1.5708 0 0" xyz="-0.0825 0.121 0"/>
<geometry>
<cylinder length="0.224" radius="0.0575"/>
</geometry>
</collision>
<visual>
<origin rpy="1.5708 0 0" xyz="-0.0825 0.121 0"/>
<geometry>
<cylinder length="0.224" radius="0.0575"/>
</geometry>
</visual>
</link>
<joint name="franka_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="franka_link3"/>
<child link="franka_link4"/>
<axis xyz="0 0 1"/>
<limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750"/>
</joint>
<link name="franka_link5">
<!-- <collision>
<geometry>
<mesh filename="meshes/collision/link5.obj"/>
</geometry>
</collision> -->
<!-- <visual>
<geometry>
<mesh filename="meshes/collision/link5.obj"/>
</geometry>
</visual> -->
<collision>
<origin rpy="-0.174533 0 0" xyz="0 0.075 -0.125"/>
<geometry>
<box size="0.092 0.056 0.22"/>
</geometry>
</collision>
<visual>
<origin rpy="-0.174533 0 0" xyz="0 0.075 -0.125"/>
<geometry>
<box size="0.092 0.056 0.22"/>
</geometry>
</visual>
<collision>
<origin rpy="1.5708 0 0" xyz="0 0.036 0"/>
<geometry>
<cylinder length="0.19" radius="0.0575"/>
</geometry>
</collision>
<visual>
<origin rpy="1.5708 0 0" xyz="0 0.036 0"/>
<geometry>
<cylinder length="0.19" radius="0.0575"/>
</geometry>
</visual>
</link>
<joint name="franka_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="franka_link4"/>
<child link="franka_link5"/>
<axis xyz="0 0 1"/>
<limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
</joint>
<link name="franka_link6">
<!-- <collision>
<geometry>
<mesh filename="meshes/collision/link6.obj"/>
</geometry>
</collision> -->
<!-- <visual>
<geometry>
<mesh filename="meshes/collision/link6.obj"/>
</geometry>
</visual> -->
<collision>
<origin rpy="1.5708 0 0" xyz="0.088 -0.012 0"/>
<geometry>
<cylinder length="0.19" radius="0.049"/>
</geometry>
</collision>
<visual>
<origin rpy="1.5708 0 0" xyz="0.088 -0.012 0"/>
<geometry>
<cylinder length="0.19" radius="0.049"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.042 0.0154 0.01"/>
<geometry>
<box size="0.05 0.115 0.088"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0.042 0.0154 0.01"/>
<geometry>
<box size="0.05 0.115 0.088"/>
</geometry>
</visual>
</link>
<joint name="franka_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="franka_link5"/>
<child link="franka_link6"/>
<axis xyz="0 0 1"/>
<limit effort="12" lower="-0.0175" upper="3.7525" velocity="2.6100"/>
</joint>
<link name="franka_link7">
<!-- <collision>
<geometry>
<mesh filename="meshes/collision/link7.obj"/>
</geometry>
</collision> -->
<!-- <visual>
<geometry>
<mesh filename="meshes/collision/link7.obj"/>
</geometry>
</visual> -->
</link>
<joint name="franka_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="franka_link6"/>
<child link="franka_link7"/>
<axis xyz="0 0 1"/>
<limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
</joint>
<link name="franka_link8">
<collision>
<origin rpy="0 0 0.785398" xyz="0.0424 0.0424 -0.028"/>
<geometry>
<box size="0.06 0.075 0.04"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0.785398" xyz="0.0424 0.0424 -0.028"/>
<geometry>
<box size="0.06 0.075 0.04"/>
</geometry>
</visual>
</link>
<joint name="franka_joint8" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.107"/>
<parent link="franka_link7"/>
<child link="franka_link8"/>
<axis xyz="0 0 0"/>
</joint>
<joint name="franka_head_to_tool_joint" type="fixed">
<parent link="franka_head_js"/>
<child link="tool"/>
<origin rpy="0 0 0" xyz="0.0 0 0.075"/>
</joint>
<link name="franka_head_js">
<!-- concentric cyl -->
<collision>
<origin rpy="0 0 0" xyz="0 0 0.0308"/>
<geometry>
<cylinder length="0.1" radius="0.05"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 0.0308"/>
<geometry>
<cylinder length="0.1" radius="0.05"/>
</geometry>
</visual>
<!-- offaxis cyl -->
<collision>
<origin rpy="0 0 0" xyz="0.035 0 0.0308"/>
<geometry>
<cylinder length="0.08" radius="0.07"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0.035 0 0.0308"/>
<geometry>
<cylinder length="0.08" radius="0.07"/>
</geometry>
</visual>
</link>
<joint name="franka_link8_to_franka_head_js" type="fixed">
<parent link="franka_link8"/>
<child link="franka_head_js"/>
<origin rpy="0 0 0.785398" xyz="0.0 0.000 0.0075"/>
</joint>
<link name="tool">
<collision>
<origin rpy="0 0 0" xyz="0.0 0.0 0.1375"/>
<geometry>
<cylinder length="0.275" radius="0.041"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0.0 0.0 0.1375"/>
<geometry>
<cylinder length="0.275" radius="0.041"/>
</geometry>
</visual>
</link>
<link name="tool_tip"/>
<joint name="tool_joint_to_tool_tip" type="fixed">
<parent link="tool"/>
<child link="tool_tip"/>
<origin rpy="0 0 0" xyz="0.0 0 0.275"/>
</joint>
<collision_filter_group name="base">
<member link="franka_link0"/>
<member link="franka_link1"/>
<member link="franka_link2"/>
<member link="franka_link3"/>
<member link="franka_link4"/>
<ignored_collision_filter_group collision_filter_group="base"/>
</collision_filter_group>
<collision_filter_group name="franka">
<member link="franka_link3"/>
<member link="franka_link4"/>
<member link="franka_link5"/>
<ignored_collision_filter_group collision_filter_group="franka"/>
</collision_filter_group>
<collision_filter_group name="end_effectors">
<member link="franka_link5"/>
<member link="franka_link6"/>
<member link="franka_link7"/>
<member link="franka_link8"/>
<member link="franka_head_js"/>
<member link="tool"/>
<ignored_collision_filter_group collision_filter_group="end_effectors"/>
</collision_filter_group>
</robot>
<!-- The collision for links ['franka_link0'] are removed in this URDF -->