dishwasher_robot.urdf

<?xml version='1.0' encoding='utf-8'?>

<robot name="dishwasher" version="1.0">

  <!-- GROUND LINK -->
  <link name ="ground_link">
    <inertial>
      <origin xyz="0.0 0.0 0.01" rpy="0 0 0" />
      <mass value="0.001" />
      <inertia ixx="1E-06" ixy="0.0" ixz="0.0" iyy="1E-06" iyz="0.0" izz="1E-06" />
    </inertial>
    <!-- <visual>
      <origin xyz="0 0 0.05" rpy="0 0 0"/>
      <geometry>
        <box size="1 1 0.1" />
      </geometry>
    </visual> -->
  </link>

  <!-- PANDA ARM LINKS --> 
  <link name="link1">
    <inertial>
      <origin xyz="0 0 0.075" rpy="0 0 0" />
      <mass value="4" />
      <inertia ixx="0.3" iyy="0.3" izz="0.3" ixy="0" ixz="0" iyz="0" />
    </inertial>
    <!-- <visual>
      <origin xyz="0 0 0.075" rpy="0 0 0"/>
      <geometry>
        <box size="0.5 0.25 0.15" />
      </geometry>
    </visual> -->
    <visual>
	        <origin xyz="0 0 0" rpy="0 0 0" />
			<geometry>
	            <mesh filename="../../../robusser/components/dishwasher_rack/dishwasher_trau.obj" scale="20 20 20"/>
	        </geometry>
	    </visual>
  </link>
  <link name="link2">
    <inertial>
      <origin xyz="0 0 0.25" rpy="0 0 0" />
      <mass value="3" />
      <inertia ixx="0.3" iyy="0.3" izz="0.3" ixy="0" ixz="0" iyz="0" />
    </inertial>
    <!-- <visual>
      <origin size="0.5 0 0" rpy="0 0 0"/>
      <geometry>
        <box length="1" radius="0.1"/>
      </geometry>
    </visual> -->
    <visual>
	        <origin xyz="0 0 0" rpy="0 -1.6 0" />
			        <geometry>
	            <mesh filename="../../../robusser/components/dishwasher_door(3)/dishwasher_door.obj" scale="20 20 20"/>
	        </geometry>
	    </visual>
    <!-- <collision>
      <geometry>
        <mesh filename="../../../model/panda/meshes/collision/link2.obj"/>
      </geometry>
    </collision> -->
  </link>

  <!-- JOINTS -->
  <joint name="joint1" type="prismatic">
      <!-- <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/> -->
      <origin xyz="0 0 0.32" rpy="0 0 0"/>
      <parent link="ground_link"/>
      <child link="link1"/>
      <axis xyz="1 0 0"/>
      <calibration rising="-0.5" />
      <limit lower="0" upper="1" velocity="1" effort="87"/>
  </joint>

  <joint name="joint2" type="revolute">
    <origin xyz="0.55 0 0.27"/>
    <parent link="ground_link"/>
    <child link="link2"/>
    <axis xyz="0 1 0"/>
    <calibration falling="1.6"/>
    <limit lower="-0.1" upper="1.6" velocity="1" effort="100"/>
  </joint>
</robot>