urdf/arm.urdf.xacro

   1 <?xml version="1.0"?>
   2
   3 <!--
   4 For IKFast:
   5 - All rotation about Z-Axis
   6 - Gripper base at offset from last link
   7 - Gripper base points to Z-Direction
   8 -->
   9
  10 <robot name="arm" xmlns:xacro="http://ros.org/wiki/xacro">
  11         <xacro:include filename="$(find hector_sensors_description)/urdf/asus_camera.urdf.xacro" />
  12
  13         <link name="base_link">
  14         </link>
  15
  16         <link name="plate">
  17                 <visual>
  18                         <geometry>
  19                                 <mesh filename="package://arm_ros_conn/meshes/32985.stl"/>
  20                         </geometry>
  21                         <material name="black">
  22                                 <color rgba="0 0 0 1"/>
  23                         </material>
  24                 </visual>
  25         </link>
  26
  27         <link name="arm_base">
  28         </link>
  29
  30         <link name="link1">
  31                 <visual>
  32                         <geometry>
  33                                 <mesh filename="package://arm_ros_conn/meshes/link1.stl"/>
  34                         </geometry>
  35                         <origin xyz="0 0 0.0615"/>
  36                         <material name="grey">
  37                                 <color rgba="0.5 0.5 0.5 1"/>
  38                         </material>
  39                 </visual>
  40         </link>
  41
  42         <link name="link2">
  43                 <visual>
  44                         <geometry>
  45                                 <mesh filename="package://arm_ros_conn/meshes/link2.stl"/>
  46                         </geometry>
  47                         <origin xyz="0.120 0 0" rpy="1.5708 0 1.5708"/>
  48                         <material name="grey">
  49                                 <color rgba="0.5 0.5 0.5 1"/>
  50                         </material>
  51                 </visual>
  52         </link>
  53
  54         <link name="link3">
  55                 <visual>
  56                         <geometry>
  57                                 <mesh filename="package://arm_ros_conn/meshes/link3.stl"/>
  58                         </geometry>
  59                         <origin xyz="0 0.0675 0" rpy="1.5708 0 0"/>
  60                         <material name="grey">
  61                                 <color rgba="0.5 0.5 0.5 1"/>
  62                         </material>
  63                 </visual>
  64         </link>
  65
  66         <link name="link4">
  67                 <visual>
  68                         <geometry>
  69                                 <mesh filename="package://arm_ros_conn/meshes/link4.stl"/>
  70                         </geometry>
  71                         <origin xyz="0 0 0.015" rpy="0 0 0"/>
  72                         <material name="black">
  73                                 <color rgba="0 0 0 1"/>
  74                         </material>
  75                 </visual>
  76         </link>
  77
  78         <link name="link5">
  79                 <visual>
  80                         <geometry>
  81                                 <mesh filename="package://arm_ros_conn/meshes/31019.stl"/>
  82                         </geometry>
  83                         <origin xyz="0.0 0 0" rpy="0 0 0"/>
  84                         <material name="red">
  85                                 <color rgba="1 0 0 1"/>
  86                         </material>
  87                 </visual>
  88         </link>
  89
  90         <link name="gripper_pole">
  91         </link>
  92
  93         <link name="gripper_center">
  94         </link>
  95
  96         <link name="left_gripper">
  97                 <visual>
  98                         <origin xyz="0.025 0 0" rpy="-1.5708 3.1416 0"/>
  99                         <geometry>
 100                                 <mesh filename="package://arm_ros_conn/meshes/35978.stl" scale="0.001 0.001 0.001"/>
 101                         </geometry>
 102                         <material name="red">
 103                                 <color rgba="1 0 0 1"/>
 104                         </material>
 105                 </visual>
 106         </link>
 107
 108         <link name="right_gripper">
 109                 <visual>
 110                         <origin xyz="0.025 0 0" rpy="-1.5708 3.1416 0"/>
 111                         <geometry>
 112                                 <mesh filename="package://arm_ros_conn/meshes/35978.stl" scale="0.001 0.001 0.001"/>
 113                         </geometry>
 114                         <material name="red">
 115                                 <color rgba="1 0 0 1"/>
 116                         </material>
 117                 </visual>
 118         </link>
 119
 120         <link name="link2_motor_extension">
 121                 <visual>
 122                         <geometry>
 123                                 <box size="0.015 0.015 0.10"/>
 124                         </geometry>
 125                         <origin xyz="0 0 0.05" rpy="0 0 0"/>
 126                         <material name="grey">
 127                                 <color rgba="0.5 0.5 0.5 1"/>
 128                         </material>
 129                 </visual>
 130         </link>
 131
 132         <link name="plate_box">
 133                 <visual>
 134                         <geometry>
 135                                 <box size="0.08 0.185 0.035"/>
 136                         </geometry>
 137                         <origin xyz="0 0 0.0175" rpy="0 0 0"/>
 138                         <material name="black">
 139                                 <color rgba="0 0 0 1"/>
 140                         </material>
 141                 </visual>
 142         </link>
 143
 144         <joint name="plate_joint" type="fixed">
 145                 <parent link="base_link"/>
 146                 <child link="plate"/>
 147                 <origin xyz="0 0 0.00375"/>
 148         </joint>
 149
 150         <joint name="arm_base_joint" type="fixed">
 151                 <parent link="plate"/>
 152                 <child link="arm_base"/>
 153                 <origin xyz="0 0.099 0"/>
 154         </joint>
 155
 156         <joint name="link1_joint" type="revolute">
 157                 <parent link="arm_base"/>
 158                 <child link="link1"/>
 159                 <axis xyz="0 0 -1"/>
 160                 <limit effort="1.0" lower="0.0" upper="5.672320068981571" velocity="0.2"/>
 161         </joint>
 162
 163         <joint name="link2_joint" type="revolute">
 164                 <parent link="link1"/>
 165                 <child link="link2"/>
 166                 <axis xyz="0 0 1"/>
 167                 <origin xyz="0.0 0.0 0.123" rpy="1.5708 0 0"/>
 168                 <limit effort="1.0" lower="0.1505" upper="3.611" velocity="0.1"/>
 169         </joint>
 170
 171         <joint name="link3_joint" type="revolute">
 172                 <parent link="link2"/>
 173                 <child link="link3"/>
 174                 <axis xyz="0 0 -1"/>
 175                 <origin xyz="0.240 0 0" rpy="0 0 0"/>
 176                 <limit effort="1.0" lower="0" upper="3.1416" velocity="0.2"/>
 177         </joint>
 178
 179         <joint name="link4_joint" type="revolute">
 180                 <parent link="link3"/>
 181                 <child link="link4"/>
 182                 <axis xyz="0 0 -1"/>
 183                 <origin xyz="0 0.135 0" rpy="-1.5708 0 0"/>
 184                 <limit effort="1.0" lower="-0.15708" upper="5.4978" velocity="0.5"/>
 185         </joint>
 186
 187         <joint name="link5_joint" type="revolute">
 188                 <parent link="link4"/>
 189                 <child link="link5"/>
 190                 <axis xyz="0 0 1"/>
 191                 <origin xyz="0 0 0.06" rpy="1.5708 0 0"/>
 192                 <limit effort="1.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="1.0"/>
 193         </joint>
 194
 195         <joint name="gripper_pole_joint" type="fixed">
 196                 <parent link="link5"/>
 197                 <child link="gripper_pole"/>
 198                 <origin xyz="0 0.02275 0" rpy="1.5708 0 1.5708"/>
 199         </joint>
 200
 201         <joint name="gripper_center_joint" type="fixed">
 202                 <parent link="gripper_pole"/>
 203                 <child link="gripper_center"/>
 204                 <origin xyz="0.08 0 0" rpy="0 0 0"/>
 205         </joint>
 206
 207         <joint name="left_gripper_joint" type="revolute">
 208                 <parent link="gripper_pole"/>
 209                 <child link="left_gripper"/>
 210                 <axis xyz="0 0 1"/>
 211                 <origin xyz="0 0.015 0" rpy="0 0 0"/>
 212                 <limit effort="1.0" lower="0.0" upper="0.35" velocity="0.1"/>
 213         </joint>
 214
 215         <joint name="right_gripper_joint" type="revolute">
 216                 <parent link="gripper_pole"/>
 217                 <child link="right_gripper"/>
 218                 <axis xyz="0 0 1"/>
 219                 <origin xyz="0 -0.015 0" rpy="3.1416 0 0"/>
 220                 <limit effort="1.0" lower="0.0" upper="0.35" velocity="0.1"/>
 221         </joint>
 222
 223         <joint name="link2_motor_extension_joint" type="fixed">
 224                 <parent link="link2"/>
 225                 <child link="link2_motor_extension"/>
 226                 <origin xyz="0.165 -0.03 0" rpy="1.5708 0 0"/>
 227         </joint>
 228
 229         <joint name="plate_box_joint" type="fixed">
 230                 <parent link="plate"/>
 231                 <child link="plate_box"/>
 232                 <origin xyz="-0.04 -0.035 0" rpy="0 0 0"/>
 233         </joint>
 234
 235         <xacro:asus_camera name="camera" parent="link2">
 236                 <origin xyz="0.18 -0.03 -0.05" rpy="0 3.1416 -1.5708"/>
 237         </xacro:asus_camera>
 238 </robot>