# # Baxter robot, converted from RethinkRobotics/baxter_common/urdf/baxter.urdf # and calibrated # # Initial import: 11/19/2013. # -Dummy links were manually edited to have mass properties set to 0. # -Some basic noselfcollision items manually added. More could be added to # optimize self-collision testing. # -Motor parameters are yet tuned extensively, but simulation is stable. # # Motor tuning: 4/15/2014. # - Used data from Rethink, ran it through motorcalibrate program. # - Max RMSE 1.8 degrees on right_lower_shoulder. # # Revision to newest version: 7/1/2014 # - Updated urdf file has more links # # Revised velocity / acceleration limits to match robot (approximate) links "base0" "base1" "base2" "base3" "base4" "base" "collision_head_link_1" "collision_head_link_2" "torso" "head" "dummyhead1" "head_camera" "screen" "display" "left_arm_mount" "left_upper_shoulder" "left_lower_shoulder" "left_upper_elbow" "left_lower_elbow" "left_upper_forearm" "left_arm_itb" "left_lower_forearm" "left_wrist" "left_hand" "left_gripper_base" "left_gripper" "left_hand_accelerometer" "left_hand_camera" "left_hand_camera_axis" "left_hand_range" "left_upper_forearm_visual" "left_upper_elbow_visual" "left_torso_itb" "pedestal" "right_arm_mount" "right_upper_shoulder" "right_lower_shoulder" "right_upper_elbow" "right_lower_elbow" "right_upper_forearm" "right_arm_itb" "right_lower_forearm" "right_wrist" "right_hand" "right_gripper_base" "right_gripper" "right_hand_accelerometer" "right_hand_camera" "right_hand_camera_axis" "right_hand_range" "right_upper_forearm_visual" "right_upper_elbow_visual" "right_torso_itb" "sonar_ring" parents -1 0 1 2 3 4 5 5 5 8 9 9 9 12 8 14 15 16 17 18 19 19 21 22 23 24 23 23 23 23 18 16 8 8 8 34 35 36 37 38 39 39 41 42 43 44 43 43 43 43 38 36 8 8 axis 1 0 0 0 1 0 0 0 1 0 0 1 0 1 0 1 0 0 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 1 0 0 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 jointtype p p p r r r r r r r r r r r r r r r r r r r r r r r r r r r r r r r r r r r r r r r r r r r r r r r r r r r Tparent 1 0 0 0 1 0 0 0 1 0 0 0 \ 1 0 0 0 1 0 0 0 1 0 0 0 \ 1 0 0 0 1 0 0 0 1 0 0 0 \ 1 0 0 0 1 0 0 0 1 0 0 0 \ 1 0 0 0 1 0 0 0 1 0 0 0 \ 1 0 0 0 1 0 0 0 1 0 0 0 \ 1 0 0 0 1 0 0 0 1 0.11 0 0.75 \ 1 0 0 0 1 0 0 0 1 0.11 0 0.75 \ 1 0 0 0 1 0 0 0 1 0 0 0 \ 1 0 0 0 1 0 0 0 1 0.06 0 0.686 \ 1 0 0 0 1 0 0 0 1 0 0 0 \ 4.89642e-12 0.178807 0.983884 1 -8.7552e-13 -4.81763e-12 -1.14709e-16 0.983884 -0.178807 0.12839 0 0.06368 \ 4.89642e-12 0.178807 0.983884 1 -8.7552e-13 -4.81763e-12 -1.14709e-16 0.983884 -0.178807 0.1227 0 0 \ 1 0 0 0 1 0 0 0 1 0 -0.016 0 \ 0.707105 -0.707108 0 0.707108 0.707105 0 0 0 1 0.024645 0.219645 0.118588 \ 1 0 0 0 1 0 0 0 1 0.055695 0 0.011038 \ 1 -0 0 0 4.89667e-12 1 -0 -1 4.89667e-12 0.069 0 0.27035 \ 4.89664e-12 -4.89658e-12 1 1 0 -4.89658e-12 5.55112e-17 1 4.89664e-12 0.102 0 0 \ 4.89664e-12 1 -4.89658e-12 5.55112e-17 4.89664e-12 1 1 -4.89658e-12 0 0.069 0 0.26242 \ 4.89664e-12 -4.89658e-12 1 1 0 -4.89658e-12 5.55112e-17 1 4.89664e-12 0.10359 0 0 \ 4.89664e-12 -4.89658e-12 -1 1 0 4.89658e-12 -5.55112e-17 -1 4.89664e-12 -0.0565 0 0.12 \ 4.89664e-12 1 -4.89658e-12 5.55112e-17 4.89664e-12 1 1 -4.89658e-12 0 0.01 0 0.2707 \ 4.89664e-12 -4.89658e-12 1 1 0 -4.89658e-12 5.55112e-17 1 4.89664e-12 0.115975 0 0 \ 1 0 0 0 1 0 0 0 1 0 0 0.11355 \ 1 0 0 0 1 0 0 0 1 0 0 0 \ 1 0 0 0 1 0 0 0 1 0 0 0.025 \ 1 0 0 0 1 0 0 0 1 0.00198 0.000133 -0.0146 \ -3.2051e-09 1 0 -1 -3.2051e-09 -0 -0 0 1 0.03825 0.012 0.015355 \ 1 0 0 0 1 0 0 0 1 0.03825 0.012 0.015355 \ 0 1 -4.89658e-12 -4.89658e-12 4.89664e-12 1 1 5.55112e-17 4.89664e-12 0.032 -0.020245 0.0288 \ 4.89664e-12 -4.89658e-12 1 1 0 -4.89658e-12 5.55112e-17 1 4.89664e-12 0.088 0 0 \ 4.89664e-12 -4.89658e-12 1 1 0 -4.89658e-12 5.55112e-17 1 4.89664e-12 0.107 0 0 \ -1 -9.26536e-05 4.53687e-16 -4.80096e-21 4.89669e-12 1 -9.26536e-05 1 -4.89661e-12 -0.08897 0.15593 0.389125 \ 1 0 0 0 1 0 0 0 1 0 0 0 \ 0.707105 0.707108 0 -0.707108 0.707105 -0 -0 0 1 0.024645 -0.219645 0.118588 \ 1 0 0 0 1 0 0 0 1 0.055695 0 0.011038 \ 1 -0 0 0 4.89667e-12 1 -0 -1 4.89667e-12 0.069 0 0.27035 \ 4.89664e-12 -4.89658e-12 1 1 0 -4.89658e-12 5.55112e-17 1 4.89664e-12 0.102 0 0 \ 4.89664e-12 1 -4.89658e-12 5.55112e-17 4.89664e-12 1 1 -4.89658e-12 0 0.069 0 0.26242 \ 4.89664e-12 -4.89658e-12 1 1 0 -4.89658e-12 5.55112e-17 1 4.89664e-12 0.10359 0 0 \ 4.89664e-12 -4.89658e-12 -1 1 0 4.89658e-12 -5.55112e-17 -1 4.89664e-12 -0.0565 0 0.12 \ 4.89664e-12 1 -4.89658e-12 5.55112e-17 4.89664e-12 1 1 -4.89658e-12 0 0.01 0 0.2707 \ 4.89664e-12 -4.89658e-12 1 1 0 -4.89658e-12 5.55112e-17 1 4.89664e-12 0.115975 0 0 \ 1 0 0 0 1 0 0 0 1 0 0 0.11355 \ 1 0 0 0 1 0 0 0 1 0 0 0 \ 1 0 0 0 1 0 0 0 1 0 0 0.025 \ 1 0 0 0 1 0 0 0 1 0.00198 0.000133 -0.0146 \ -3.2051e-09 1 0 -1 -3.2051e-09 -0 -0 0 1 0.03825 0.012 0.015355 \ 1 0 0 0 1 0 0 0 1 0.03825 0.012 0.015355 \ 0 1 -4.89658e-12 -4.89658e-12 4.89664e-12 1 1 5.55112e-17 4.89664e-12 0.032 -0.020245 0.0288 \ 4.89664e-12 -4.89658e-12 1 1 0 -4.89658e-12 5.55112e-17 1 4.89664e-12 0.088 0 0 \ 4.89664e-12 -4.89658e-12 1 1 0 -4.89658e-12 5.55112e-17 1 4.89664e-12 0.107 0 0 \ 1 0 0 0 4.89667e-12 -1 0 1 4.89667e-12 -0.08897 -0.15593 0.389125 \ 1 0 0 0 1 0 0 0 1 0.0947 0 0.817 #qmin -inf -inf -inf -inf -inf -inf 0 0 0 -1.5708 0 0 -0.2 0 0 -1.70168 -2.147 -3.05418 -0.05 -3.059 0 -1.5708 -3.059 0 0 0 0 0 0 0 0 0 0 0 0 -1.70168 -2.147 -3.05418 -0.05 -3.059 0 -1.5708 -3.059 0 0 0 0 0 0 0 0 0 0 0 #qmax inf inf inf inf inf inf 0 0 0 1.5708 0 0 0.2 0 0 1.70168 1.047 3.05418 2.618 3.059 0 2.094 3.059 0 0 0 0 0 0 0 0 0 0 0 0 1.70168 1.047 3.05418 2.618 3.059 0 2.094 3.059 0 0 0 0 0 0 0 0 0 0 0 #these fix the base of the robot qmin 0 0 0 0 0 0 0 0 0 -1.5708 0 0 -0.2 0 0 -1.70168 -2.147 -3.05418 -0.05 -3.059 0 -1.5708 -3.059 0 0 0 0 0 0 0 0 0 0 0 0 -1.70168 -2.147 -3.05418 -0.05 -3.059 0 -1.5708 -3.059 0 0 0 0 0 0 0 0 0 0 0 qmax 0 0 0 0 0 0 0 0 0 1.5708 0 0 0.2 0 0 1.70168 1.047 3.05418 2.618 3.059 0 2.094 3.059 0 0 0 0 0 0 0 0 0 0 0 0 1.70168 1.047 3.05418 2.618 3.059 0 2.094 3.059 0 0 0 0 0 0 0 0 0 0 0 geometry "" "" "" "" "" "" "baxter/collision_head_link_1.off" "baxter/collision_head_link_2.off" "baxter/torso.off" "baxter/head.off" "" "" "baxter/screen.off" "baxter/display.off" "" "baxter/left_upper_shoulder.off" "baxter/left_lower_shoulder.off" "baxter/left_upper_elbow.off" "baxter/left_lower_elbow.off" "baxter/left_upper_forearm.off" "" "baxter/left_lower_forearm.off" "baxter/left_wrist.off" "" "baxter/left_gripper_base.off" "baxter/left_gripper.off" "baxter/left_hand_accelerometer.off" "baxter/left_hand_camera.off" "" "baxter/left_hand_range.off" "" "" "" "baxter/pedestal.off" "" "baxter/right_upper_shoulder.off" "baxter/right_lower_shoulder.off" "baxter/right_upper_elbow.off" "baxter/right_lower_elbow.off" "baxter/right_upper_forearm.off" "" "baxter/right_lower_forearm.off" "baxter/right_wrist.off" "" "baxter/right_gripper_base.off" "baxter/right_gripper.off" "baxter/right_hand_accelerometer.off" "baxter/right_hand_camera.off" "" "baxter/right_hand_range.off" "" "" "" "baxter/sonar_ring.off" mass 0 0 0 0 0 0 0 0 35.3365 0.547767 0 0 0.440171 0.0001 0 5.70044 3.22698 4.31272 2.07206 2.24665 0 1.60979 0.35093 0.19125 0 0 0.0001 0 0 0 0 0 0.0001 60.864 0 5.70044 3.22698 4.31272 2.07206 2.24665 0 1.60979 0.35093 0.19125 0 0 0.0001 0 0 0 0 0 0.0001 0 com 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.01783 0.00086 0.19127 0.06845 0.00269 -0.00529 -0.00276 0.00132 0.18086 0.02611 0.00159 -0.01117 -0.00168 0.0046 0.13952 0 0 0 0.06041 0.00697 0.006 0.00198 0.00125 0.01855 0.01093 0.00042 -0.01532 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.01783 0.00086 0.19127 0.06845 0.00269 -0.00529 -0.00276 0.00132 0.18086 0.02611 0.00159 -0.01117 -0.00168 0.0046 0.13952 0 0 0 0.06041 0.00697 0.006 0.00198 0.00125 0.01855 0.01093 0.00042 -0.01532 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 inertia 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1e-08 0 0 0 1e-08 0 0 0 1e-08 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1.84916 -0.000354 -0.154188 -0.000354 1.66267 0.003292 -0.154188 0.003292 0.802239 0.004641 0.000159 0.000242 0.000159 0.003295 -0.001324 0.000242 -0.001324 0.003415 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.004006 0.00023 2e-06 0.00023 0.0028 2.9e-05 2e-06 2.9e-05 0.001509 1e-08 0 0 0 1e-08 0 0 0 1e-08 0 0 0 0 0 0 0 0 0 0.047091 0.000127876 0.0061487 0.000127876 0.0376698 0.000780869 0.0061487 0.000780869 0.0359599 0.0117521 -0.000300964 0.00207676 -0.000300964 0.027886 -0.00018822 0.00207676 -0.00018822 0.0207875 0.0266173 0.000292706 0.0039219 0.000292706 0.0284436 0.00108389 0.0039219 0.00108389 0.0124801 0.00711583 0.000360362 0.00074595 0.000360362 0.0131823 -0.000196634 0.00074595 -0.000196634 0.00926852 0.0166774 0.000184037 0.000186576 0.000184037 0.0167546 -0.000647324 0.000186576 -0.000647324 0.00374631 0 0 0 0 0 0 0 0 0 0.00387607 -0.000443848 -0.00021115 -0.000443848 0.00700538 0.000153481 -0.00021115 0.000153481 0.00552755 0.000252892 5.75311e-06 -1.59345e-06 5.75311e-06 0.00026886 -5.19818e-06 -1.59345e-06 -5.19818e-06 0.000307412 0.00017588 1.47073e-06 2.43633e-05 1.47073e-06 0.000211664 1.72689e-06 2.43633e-05 1.72689e-06 0.000237454 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1e-08 0 0 0 1e-08 0 0 0 1e-08 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1e-08 0 0 0 1e-08 0 0 0 1e-08 5.06359 0.00103417 0.801996 0.00103417 6.08689 0.00105311 0.801996 0.00105311 4.96192 0 0 0 0 0 0 0 0 0 0.047091 0.000127876 0.0061487 0.000127876 0.0376698 0.000780869 0.0061487 0.000780869 0.0359599 0.0117521 -0.000300964 0.00207676 -0.000300964 0.027886 -0.00018822 0.00207676 -0.00018822 0.0207875 0.0266173 0.000292706 0.0039219 0.000292706 0.0284436 0.00108389 0.0039219 0.00108389 0.0124801 0.00711583 0.000360362 0.00074595 0.000360362 0.0131823 -0.000196634 0.00074595 -0.000196634 0.00926852 0.0166774 0.000184037 0.000186576 0.000184037 0.0167546 -0.000647324 0.000186576 -0.000647324 0.00374631 0 0 0 0 0 0 0 0 0 0.00387607 -0.000443848 -0.00021115 -0.000443848 0.00700538 0.000153481 -0.00021115 0.000153481 0.00552755 0.000252892 5.75311e-06 -1.59345e-06 5.75311e-06 0.00026886 -5.19818e-06 -1.59345e-06 -5.19818e-06 0.000307412 0.00017588 1.47073e-06 2.43633e-05 1.47073e-06 0.000211664 1.72689e-06 2.43633e-05 1.72689e-06 0.000237454 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1e-08 0 0 0 1e-08 0 0 0 1e-08 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1e-08 0 0 0 1e-08 0 0 0 1e-08 0 0 0 0 0 0 0 0 0 torquemax 0 0 0 0 0 inf inf inf 50 50 inf inf 50 inf inf 50 100 50 50 15 inf 15 15 inf inf inf inf inf inf inf inf inf inf inf inf 50 100 50 50 15 inf 15 15 inf inf inf inf inf inf inf inf inf inf inf velmax inf inf inf inf inf inf 0 0 0 4 0 0 0 0 0 0.7 1 1 1 0.6 0 0.6 1 0 0 0 0 0 0 0 0 0 0 0 0 0.7 1 1 1 0.6 0 0.6 1 0 0 0 0 0 0 0 0 0 0 0 accmax inf inf inf inf inf inf 0 0 0 2 0 0 0 0 0 0.7 1 1 1 2 0 2 2 0 0 0 0 0 0 0 0 0 0 0 0 0.7 1 1 1 2 0 2 2 0 0 0 0 0 0 0 0 0 0 0 noselfcollision 6 7 6 8 6 9 6 12 6 13 6 15 6 16 6 17 6 33 6 35 6 36 6 37 6 53 noselfcollision 7 8 7 9 7 12 7 13 7 15 7 16 7 17 7 33 7 35 7 36 7 37 7 53 noselfcollision 8 9 8 12 8 13 8 15 8 16 8 17 8 33 8 35 8 36 8 37 8 53 noselfcollision 9 12 9 13 9 15 9 16 9 17 9 33 9 35 9 36 9 37 9 53 noselfcollision 12 15 12 16 12 33 12 35 12 36 12 53 noselfcollision 15 17 15 18 15 19 15 33 15 35 15 36 15 37 15 53 noselfcollision 16 18 16 19 16 33 16 35 16 36 16 37 16 53 noselfcollision 17 19 17 21 17 22 17 24 17 25 17 27 17 29 17 33 17 35 17 36 noselfcollision 18 21 18 22 18 24 18 25 18 27 18 29 18 33 18 35 18 36 noselfcollision 19 22 19 24 19 25 19 27 19 29 noselfcollision 21 24 21 25 21 27 21 29 noselfcollision 22 24 22 25 22 27 22 29 noselfcollision 24 27 24 29 noselfcollision 25 27 25 29 noselfcollision 27 29 noselfcollision 33 35 33 36 33 53 noselfcollision 35 37 35 38 35 53 noselfcollision 36 38 36 53 noselfcollision 37 39 37 41 37 42 37 44 37 45 37 47 37 49 noselfcollision 38 41 38 42 38 44 38 45 38 47 38 49 noselfcollision 39 42 39 44 39 45 39 47 39 49 noselfcollision 41 44 41 45 41 47 41 49 noselfcollision 42 44 42 45 42 47 42 49 noselfcollision 44 47 44 49 noselfcollision 45 47 45 49 noselfcollision 47 49 #uncomment this and comment out the following 6 lines to treat baxter like a floating-base robot #joint floating 5 -1 joint weld 0 joint weld 1 joint weld 2 joint weld 3 joint weld 4 joint weld 5 joint weld 6 joint weld 7 joint weld 8 joint normal 9 joint weld 10 joint weld 11 joint normal 12 joint weld 13 joint weld 14 joint normal 15 joint normal 16 joint normal 17 joint normal 18 joint normal 19 joint weld 20 joint normal 21 joint normal 22 joint weld 23 joint weld 24 joint weld 25 joint weld 26 joint weld 27 joint weld 28 joint weld 29 joint weld 30 joint weld 31 joint weld 32 joint weld 33 joint weld 34 joint normal 35 joint normal 36 joint normal 37 joint normal 38 joint normal 39 joint weld 40 joint normal 41 joint normal 42 joint weld 43 joint weld 44 joint weld 45 joint weld 46 joint weld 47 joint weld 48 joint weld 49 joint weld 50 joint weld 51 joint weld 52 joint weld 53 driver normal 9 driver normal 12 driver normal 15 driver normal 16 driver normal 17 driver normal 18 driver normal 19 driver normal 21 driver normal 22 driver normal 35 driver normal 36 driver normal 37 driver normal 38 driver normal 39 driver normal 41 driver normal 42 #optimized parameters for arms servoP 10 10 100.005 211.05 614.593 290.896 253.255 234.675 14.0868 68.9507 173.329 354.532 262.324 215.815 224.095 17.9634 servoI 0 0 35.6333 536.282 117.791 98.5704 15.691 0.324808 0.0577103 31.1433 305.257 104.457 152.985 19.649 1.15989 0.26173 servoD 1 1 2.96389e-11 65.8053 8.33616 13.3679 27.3115 32.5663 5.18406e-17 1.33269e-17 17.6931 0.518039 25.5226 7.43228 1.26944e-16 6.75188e-17 dryFriction 0 0 0.174925 2.03053 4.36969 1.33826e-10 2.09954 1.58853 0.0543274 4.90113e-10 0.376609 2.105e-10 0.229861 1.36261 7.84912e-10 0.0746194 viscousFriction 0.7 0.7 17.4031 18.2773 119.66 53.628 7.83062 8.82857 0.474828 12.5372 22.5662 90.5022 49.3098 7.49643 11.2227 0.600708