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qlin960618
2025-02-22 22:37:34 +09:00
commit ee5f8b145e
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62
robots/fer/dynamics.yaml Normal file
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joint1:
dynamic:
D: 1
K: 7000
damping: 0.003
friction: 0.2
mu_coulomb: 0
mu_viscous: 16
joint2:
dynamic:
D: 1
K: 7000
damping: 0.003
friction: 0.2
mu_coulomb: 0
mu_viscous: 16
joint3:
dynamic:
D: 1
K: 7000
damping: 0.003
friction: 0.2
mu_coulomb: 0
mu_viscous: 16
joint4:
dynamic:
D: 1
K: 7000
damping: 0.003
friction: 0.2
mu_coulomb: 0
mu_viscous: 16
joint5:
dynamic:
D: 1
K: 7000
damping: 0.003
friction: 0.2
mu_coulomb: 0
mu_viscous: 16
joint6:
dynamic:
D: 1
K: 7000
damping: 0.003
friction: 0.2
mu_coulomb: 0
mu_viscous: 16
joint7:
dynamic:
D: 1
K: 7000
damping: 0.003
friction: 0.2
mu_coulomb: 0
mu_viscous: 16

66
robots/fer/fer.urdf.xacro Normal file
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<?xml version='1.0' encoding='utf-8'?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="fer">
<xacro:include filename="$(find franka_description)/robots/common/franka_robot.xacro"/>
<!--
DEPRECATION NOTICE
argument arm_id is no longer supported and will be removed in the future.
This argument is ignored.
-->
<xacro:arg name="arm_id" default="fer" />
<!-- Don't print a prefix for joints, visuals, and links? -->
<xacro:arg name="no_prefix" default="false"/>
<!-- Should an end-effector be mounted at the flange?" -->
<xacro:arg name="hand" default="true" />
<!-- Which end-effector would be mounted at the flange?" -->
<xacro:arg name="ee_id" default="franka_hand" />
<!-- Is the robot being simulated in gazebo?" -->
<xacro:arg name="gazebo" default="false" />
<!-- If `gazebo` arg is set, to which frame shall $(arm_id)_link0 be parented. Empty string for not fixing at all -->
<xacro:arg name="parent" default="world" />
<!-- If `gazebo` arg is set and `parent` not empty, what position offset between `parent` & $(arm_id)_link0 -->
<xacro:arg name="xyz" default="0 0 0" />
<!-- If `gazebo` arg is set and `parent` not empty, what rotation offset between `parent` & $(arm_id)_link0 -->
<xacro:arg name="rpy" default="0 0 0" />
<!-- Should self-collision be enabled? -->
<xacro:arg name="with_sc" default="false" />
<!-- Is the robot being controlled with ros2_control?" -->
<xacro:arg name="ros2_control" default="false" />
<!-- IP address or hostname of the robot" -->
<xacro:arg name="robot_ip" default="" />
<!-- Should a fake hardware be used? -->
<xacro:arg name="use_fake_hardware" default="false" />
<!-- Should fake sensors be used? -->
<xacro:arg name="fake_sensor_commands" default="false" />
<!-- Should the robot be spawned in Gazebo with effort interfaces?" -->
<xacro:arg name="gazebo_effort" default="false" />
<!-- For a multi arm setup, we need a threaded robot running async-->
<xacro:arg name="multi_arm" default="false" />
<xacro:franka_robot arm_id="fer"
joint_limits="${xacro.load_yaml('$(find franka_description)/robots/fer/joint_limits.yaml')}"
inertials="${xacro.load_yaml('$(find franka_description)/robots/fer/inertials.yaml')}"
kinematics="${xacro.load_yaml('$(find franka_description)/robots/fer/kinematics.yaml')}"
dynamics="${xacro.load_yaml('$(find franka_description)/robots/fer/dynamics.yaml')}"
gazebo="$(arg gazebo)"
hand="$(arg hand)"
ee_id="$(arg ee_id)"
with_sc="$(arg with_sc)"
ros2_control="$(arg ros2_control)"
robot_ip="$(arg robot_ip)"
use_fake_hardware="$(arg use_fake_hardware)"
fake_sensor_commands="$(arg fake_sensor_commands)"
gazebo_effort="$(arg gazebo_effort)"
no_prefix="$(arg no_prefix)"
arm_prefix= ""
connected_to= "base">
</xacro:franka_robot>
</robot>

96
robots/fer/inertials.yaml Normal file
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link0:
origin:
xyz: -0.0172 0.0004 0.0745
rpy: 0 0 0
mass: 2.3966
inertia:
xx: 0.0090
xy: 0.0000
xz: 0.0020
yy: 0.0115
yz: 0.0000
zz: 0.0085
link1:
origin:
xyz: 0.00033 -0.02204 -0.04762
rpy: 0 0 0
mass: 2.7907
inertia:
xx: 0.01564782655
xy: 0.00000531236
xz: -0.00003676721
yy: 0.01439883526
yz: -0.00248480843
zz: 0.00500443991
link2:
origin:
xyz: 0.00038 -0.09211 0.01908
rpy: 0 0 0
mass: 2.5420
inertia:
xx: 0.01662427728
xy: 0.00003086077
xz: 0.00000835940
yy: 0.00462501261
yz: 0.00355899830
zz: 0.01545124526
link3:
origin:
xyz: 0.05152 0.01696 -0.02971
rpy: 0 0 0
mass: 2.2513
inertia:
xx: 0.00631741992
xy: 0.00097309955
xz: 0.00292525834
yy: 0.00866285493
yz: 0.00093469224
zz: 0.00657804051
link4:
origin:
xyz: -0.05113 0.05825 0.01698
rpy: 0 0 0
mass: 2.2037
inertia:
xx: 0.00784585566
xy: -0.00339591957
xz: 0.00158704074
yy: 0.00649543136
yz: -0.00181477884
zz: 0.01003079917
link5:
origin:
xyz: -0.00005 0.03730 -0.09280
rpy: 0 0 0
mass: 2.2855
inertia:
xx: 0.02297014781
xy: -0.00000949345
xz: -0.00002063156
yy: 0.02095060919
yz: 0.00382345782
zz: 0.00430606551
link6:
origin:
xyz: 0.06572 -0.00371 0.00153
rpy: 0 0 0
mass: 1.353
inertia:
xx: 0.00087964522
xy: -0.00021487814
xz: -0.00011911662
yy: 0.00277796968
yz: 0.00001274322
zz: 0.00286701969
link7:
origin:
xyz: 0.00089 -0.00044 0.05491
rpy: 0 0 0
mass: 0.35973
inertia:
xx: 0.00019541063
xy: 0.00000165231
xz: 0.00000148826
yy: 0.00019210361
yz: -0.00000131132
zz: 0.00017936256

48
robots/fer/joint_limits.yaml Normal file
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joint1:
limit:
lower: -2.8973
upper: 2.8973
velocity: 2.1750
effort: 87.0
joint2:
limit:
lower: -1.7628
upper: 1.7628
velocity: 2.1750
effort: 87.0
joint3:
limit:
lower: -2.8973
upper: 2.8973
velocity: 2.1750
effort: 87.0
joint4:
limit:
lower: -3.0718
upper: -0.0698
velocity: 2.1750
effort: 87.0
joint5:
limit:
lower: -2.8973
upper: 2.8973
velocity: 2.6100
effort: 12.0
joint6:
limit:
lower: -0.0175
upper: 3.7525
velocity: 2.6100
effort: 12.0
joint7:
limit:
lower: -2.8973
upper: 2.8973
velocity: 2.6100
effort: 12.0

72
robots/fer/kinematics.yaml Normal file
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joint1:
kinematic:
x: 0
y: 0
z: 0.333
roll: 0
pitch: 0
yaw: 0
joint2:
kinematic:
x: 0
y: 0
z: 0
roll: -1.570796326794897
pitch: 0
yaw: 0
joint3:
kinematic:
x: 0
y: -0.316
z: 0
roll: 1.570796326794897
pitch: 0
yaw: 0
joint4:
kinematic:
x: 0.0825
y: 0
z: 0
roll: 1.570796326794897
pitch: 0
yaw: 0
joint5:
kinematic:
x: -0.0825
y: 0.384
z: 0
roll: -1.570796326794897
pitch: 0
yaw: 0
joint6:
kinematic:
x: 0
y: 0
z: 0
roll: 1.570796326794897
pitch: 0
yaw: 0
joint7:
kinematic:
x: 0.088
y: 0
z: 0
roll: 1.570796326794897
pitch: 0
yaw: 0
# Joint to tool origin
joint8:
kinematic:
x: 0
y: 0
z: 0.107
roll: 0
pitch: 0
yaw: 0