urdf/open_manipulator.urdf.xacro

   1 <?xml version="1.0"?>
   2 <!-- Open_Manipulator Chain -->
   3 <robot name="open_manipulator" xmlns:xacro="http://ros.org/wiki/xacro">
   4
   5         <!-- Import all Gazebo-customization elements, including Gazebo colors -->
   6         <xacro:include filename="$(find open_manipulator_description)/urdf/open_manipulator.gazebo.xacro" />
   7         <!-- Import Rviz colors -->
   8         <xacro:include filename="$(find open_manipulator_description)/urdf/materials.xacro" />
   9         <xacro:include filename="$(find realsense2_description)/urdf/_d435.urdf.xacro"/>
  10
  11         <!-- Transmission macro -->
  12         <xacro:macro name="SimpleTransmission" params="joint n">
  13                 <transmission name="tran${n}">
  14                         <type>transmission_interface/SimpleTransmission</type>
  15                         <joint name="${joint}">
  16                                 <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  17                         </joint>
  18                         <actuator name="motor${n}">
  19                                 <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  20                                 <mechanicalReduction>1</mechanicalReduction>
  21                         </actuator>
  22                 </transmission>
  23         </xacro:macro>
  24
  25         <link name="open_manipulator_base">
  26         </link>
  27
  28         <joint name="world_fixed" type="fixed">
  29                 <origin xyz="0 0 0" rpy="0 0 0"/>
  30                 <parent link="open_manipulator_base"/>
  31                 <child link="link1"/>
  32         </joint>
  33
  34         <!-- Link 1 -->
  35         <link name="link1">
  36                 <visual>
  37                         <origin xyz="0 0 0" rpy="0 0 0"/>
  38                         <geometry>
  39                                 <mesh filename="package://open_manipulator_description/meshes/chain_link1.stl" scale="0.001 0.001 0.001"/>
  40                         </geometry>
  41                         <material name="grey"/>
  42                 </visual>
  43
  44                 <collision>
  45                         <origin xyz="0 0 0" rpy="0 0 0"/>
  46                         <geometry>
  47                                 <mesh filename="package://open_manipulator_description/meshes/chain_link1.stl" scale="0.001 0.001 0.001"/>
  48                         </geometry>
  49                 </collision>
  50
  51 <!--    <inertial>
  52       <origin xyz="0 0 0" />
  53       <mass value="0.082" />
  54       <inertia ixx="0.1" ixy="0.0" ixz="0.0"
  55                iyy="0.1" iyz="0.0"
  56                izz="0.1" />
  57     </inertial>-->
  58
  59      <inertial>
  60              <origin xyz="3.0876154e-04 0.0000000e+00 -1.2176461e-04" />
  61              <mass value="7.9119962e-02" />
  62              <inertia ixx="1.2505234e-05" ixy="0.0" ixz="-1.7855208e-07"
  63                      iyy="2.1898364e-05" iyz="0.0"
  64                      izz="1.9267361e-05" />
  65      </inertial>
  66   </link>
  67
  68   <!-- Joint 1 -->
  69   <joint name="joint1" type="revolute">
  70           <parent link="link1"/>
  71           <child link="link2"/>
  72           <origin xyz="0.012 0.0 0.036" rpy="0 0 0"/> <!-- Height servo+horn -->
  73           <axis xyz="0 0 1"/>
  74           <limit velocity="4.8" effort="1" lower="${-pi}" upper="${pi}" />
  75   </joint>
  76
  77   <!-- Transmission 1 -->
  78   <xacro:SimpleTransmission n="1" joint="joint1" />
  79
  80   <!--  Link 2 -->
  81   <link name="link2">
  82           <visual>
  83                   <geometry>
  84                           <mesh filename="package://open_manipulator_description/meshes/chain_link2.stl" scale="${0.001*33.5/28.5} ${0.001*44/34} ${0.001*58.5/46.5}"/> <!-- scale by XM540 -->
  85                   </geometry>
  86                   <material name="grey"/>
  87           </visual>
  88
  89           <collision>
  90                   <geometry>
  91                           <mesh filename="package://open_manipulator_description/meshes/chain_link2.stl" scale="${0.001*33.5/28.5} ${0.001*44/34} ${0.001*58.5/46.5}"/> <!-- scale by XM540 -->
  92                   </geometry>
  93           </collision>
  94
  95 <!--    <inertial>
  96       <origin xyz="0 0 0" />
  97       <mass value="0.098" />
  98       <inertia ixx="0.1" ixy="0.0" ixz="0.0"
  99                iyy="0.1" iyz="0.0"
 100                izz="0.1" />
 101     </inertial>-->
 102
 103      <inertial>
 104              <origin xyz="-3.0184870e-04 5.4043684e-04 ${0.018 + 2.9433464e-02}" />
 105              <mass value="9.8406837e-02" />
 106              <inertia ixx="3.4543422e-05" ixy="-1.6031095e-08" ixz="-3.8375155e-07"
 107                      iyy="3.2689329e-05" iyz="2.8511935e-08"
 108                      izz="1.8850320e-05" />
 109      </inertial>
 110   </link>
 111
 112   <!--  Joint 2 -->
 113   <joint name="joint2" type="revolute">
 114           <parent link="link2"/>
 115           <child link="link3"/>
 116           <origin xyz="0.0 0.0 0.0515" rpy="0 0 0"/> <!-- fr13-s102k to middle of servo horn -->
 117           <axis xyz="0 1 0"/>
 118           <limit velocity="4.8" effort="1" lower="${-pi*0.64}" upper="${pi*0.64}" />
 119   </joint>
 120
 121   <!-- Transmission 2 -->
 122   <xacro:SimpleTransmission n="2" joint="joint2" />
 123
 124   <!--  Link 3 -->
 125   <link name="link3">
 126           <visual>
 127                   <origin xyz="0 0 0" rpy="0 0 0"/>
 128                   <geometry>
 129                           <mesh filename="package://open_manipulator_description/meshes/chain_link3.stl" scale="0.001 0.001 ${0.001*(1+0.004/0.128)}"/> <!-- scale by 4mm more, see joint3 -->
 130                   </geometry>
 131                   <material name="grey"/>
 132           </visual>
 133
 134           <collision>
 135                   <origin xyz="0 0 0" rpy="0 0 0"/>
 136                   <geometry>
 137                           <mesh filename="package://open_manipulator_description/meshes/chain_link3.stl" scale="0.001 0.001 ${0.001*(1+0.004/0.128)}"/> <!-- scale by 4mm more, see joint3 -->
 138                   </geometry>
 139           </collision>
 140
 141 <!--    <inertial>
 142       <origin xyz="0 0 0" />
 143       <mass value="0.136" />
 144       <inertia ixx="0.1" ixy="0.0" ixz="0.0"
 145                iyy="0.1" iyz="0.0"
 146                izz="0.1" />
 147     </inertial>-->
 148
 149      <inertial>
 150              <origin xyz="1.0308393e-02 3.7743363e-04 1.0170197e-01" />
 151              <mass value="1.3850917e-01" />
 152              <inertia ixx="3.3055381e-04" ixy="-9.7940978e-08" ixz="-3.8505711e-05"
 153                      iyy="3.4290447e-04" iyz="-1.5717516e-06"
 154                      izz="6.0346498e-05" />
 155      </inertial>
 156   </link>
 157
 158   <!--  Joint 3 -->
 159   <joint name="joint3" type="revolute">
 160           <parent link="link3"/>
 161           <child link="link4"/>
 162           <origin xyz="0.024 0 ${0.128+0.004}" rpy="0 0 0"/> <!-- 4mm more for FR13-H101K-->
 163           <axis xyz="0 1 0"/>
 164           <limit velocity="4.8" effort="1" lower="${-pi*0.64}" upper="${pi*0.48}" />
 165   </joint>
 166
 167   <!-- Transmission 3 -->
 168   <xacro:SimpleTransmission n="3" joint="joint3" />
 169
 170   <!--  Link 4 -->
 171   <link name="link4">
 172           <visual>
 173                   <origin xyz="0 0 0" rpy="0 0 0"/>
 174                   <geometry>
 175                           <mesh filename="package://open_manipulator_description/meshes/chain_link4.stl" scale="0.001 0.001 0.001"/>
 176                   </geometry>
 177                   <material name="grey"/>
 178           </visual>
 179
 180           <collision>
 181                   <origin xyz="0 0 0" rpy="0 0 0"/>
 182                   <geometry>
 183                           <mesh filename="package://open_manipulator_description/meshes/chain_link4.stl" scale="0.001 0.001 0.001"/>
 184                   </geometry>
 185           </collision>
 186
 187 <!--    <inertial>
 188       <origin xyz="0 0 0" />
 189       <mass value="0.131" />
 190       <inertia ixx="0.1" ixy="0.0" ixz="0.0"
 191                iyy="0.1" iyz="0.0"
 192                izz="0.1" />
 193     </inertial>-->
 194
 195      <inertial>
 196              <origin xyz="9.0909590e-02 3.8929816e-04 2.2413279e-04" />
 197              <mass value="1.3274562e-01" />
 198              <inertia ixx="3.0654178e-05" ixy="-1.2764155e-06" ixz="-2.6874417e-07"
 199                      iyy="2.4230292e-04" iyz="1.1559550e-08"
 200                      izz="2.5155057e-04" />
 201      </inertial>
 202   </link>
 203
 204   <!--  Joint 4 -->
 205   <joint name="joint4" type="revolute">
 206           <parent link="link4"/>
 207           <child link="link5"/>
 208           <origin xyz="0.124 0.0 0.0" rpy="0 0 0"/>
 209           <axis xyz="0 1 0"/>
 210           <limit velocity="4.8" effort="1" lower="${-pi*0.57}" upper="${pi*0.65}" />
 211   </joint>
 212
 213   <!-- Transmission 4 -->
 214   <xacro:SimpleTransmission n="4" joint="joint4" />
 215
 216   <!--  Link 5 -->
 217   <link name="link5">
 218           <visual>
 219                   <origin xyz="0 0 0" rpy="0 0 0"/>
 220                   <geometry>
 221                           <mesh filename="package://open_manipulator_description/meshes/chain_link5.stl" scale="0.001 0.001 0.001"/>
 222                   </geometry>
 223                   <material name="grey"/>
 224           </visual>
 225
 226           <collision>
 227                   <origin xyz="0 0 0" rpy="0 0 0"/>
 228                   <geometry>
 229                           <mesh filename="package://open_manipulator_description/meshes/chain_link5.stl" scale="0.001 0.001 0.001"/>
 230                   </geometry>
 231           </collision>
 232
 233 <!--    <inertial>
 234       <origin xyz="0 0 0" />
 235       <mass value="0.141" />
 236       <inertia ixx="0.1" ixy="0.0" ixz="0.0"
 237                iyy="0.1" iyz="0.0"
 238                izz="0.1" />
 239     </inertial>-->
 240
 241      <inertial>
 242              <origin xyz="4.4206755e-02 3.6839985e-07 8.9142216e-03" />
 243              <mass value="1.4327573e-01" />
 244              <inertia ixx="8.0870749e-05" ixy="0.0" ixz="-1.0157896e-06"
 245                      iyy="7.5980465e-05" iyz="0.0"
 246                      izz="9.3127351e-05" />
 247      </inertial>
 248   </link>
 249
 250   <!--  Gripper link -->
 251   <link name="gripper_link">
 252           <visual>
 253                   <origin xyz="0.0 0.0 0" rpy="0 0 0"/>
 254                   <geometry>
 255                           <mesh filename="package://open_manipulator_description/meshes/chain_link_grip_l.stl" scale="0.001 0.001 0.001"/>
 256                   </geometry>
 257                   <material name="grey"/>
 258           </visual>
 259
 260           <collision>
 261                   <origin xyz="0.0 0.0 0" rpy="0 0 0"/>
 262                   <geometry>
 263                           <mesh filename="package://open_manipulator_description/meshes/chain_link_grip_l.stl" scale="0.001 0.001 0.001"/>
 264                   </geometry>
 265           </collision>
 266
 267           <inertial>
 268                   <origin xyz="0 0 0" />
 269                   <mass value="0.017" />
 270                   <inertia ixx="1.0e-03" ixy="0.0" ixz="0.0"
 271                           iyy="1.0e-03" iyz="0.0"
 272                           izz="1.0e-03" />
 273           </inertial>
 274
 275 <!--     <inertial>
 276       <origin xyz="${0.028 + 8.3720668e-03} ${0.0246 + 9.9696160e-03} -4.2836895e-07" />
 277       <mass value="3.2218127e-02" />
 278       <inertia ixx="9.5568826e-06" ixy="2.8424644e-06" ixz="-3.2829197e-10"
 279                iyy="2.2552871e-05" iyz="-3.1463634e-10"
 280                izz="1.7605306e-05" />
 281     </inertial>-->
 282   </link>
 283
 284   <!--  Gripper joint -->
 285   <joint name="gripper" type="prismatic">
 286           <parent link="link5"/>
 287           <child link="gripper_link"/>
 288           <origin xyz="0.0817 0.021 0.0" rpy="0 0 0"/>
 289           <axis xyz="0 1 0"/>
 290           <limit velocity="4.8" effort="1" lower="-0.010" upper="0.019" />
 291   </joint>
 292
 293   <!-- Transmission 5 -->
 294   <xacro:SimpleTransmission n="5" joint="gripper" />
 295
 296   <!--  Gripper link sub -->
 297   <link name="gripper_link_sub">
 298           <visual>
 299                   <origin xyz="0.0 -0.0 0" rpy="0 0 0"/>
 300                   <geometry>
 301                           <mesh filename="package://open_manipulator_description/meshes/chain_link_grip_r.stl" scale="0.001 0.001 0.001"/>
 302                   </geometry>
 303                   <material name="grey"/>
 304           </visual>
 305
 306           <collision>
 307                   <origin xyz="0.0 -0.0 0" rpy="0 0 0"/>
 308                   <geometry>
 309                           <mesh filename="package://open_manipulator_description/meshes/chain_link_grip_r.stl" scale="0.001 0.001 0.001"/>
 310                   </geometry>
 311           </collision>
 312
 313           <inertial>
 314                   <origin xyz="0 0 0" />
 315                   <mass value="0.017" />
 316                   <inertia ixx="1.0e-03" ixy="0.0" ixz="0.0"
 317                           iyy="1.0e-03" iyz="0.0"
 318                           izz="1.0e-03" />
 319           </inertial>
 320
 321 <!--     <inertial>
 322       <origin xyz="${0.028 + 8.3720668e-03} ${-0.0246 - 9.9696160e-03} -4.2836895e-07" />
 323       <mass value="3.2218127e-02" />
 324       <inertia ixx="9.5568826e-06" ixy="2.8424644e-06" ixz="-3.2829197e-10"
 325                iyy="2.2552871e-05" iyz="-3.1463634e-10"
 326                izz="1.7605306e-05" />
 327     </inertial>-->
 328   </link>
 329
 330   <!--  Gripper joint sub -->
 331   <joint name="gripper_sub" type="prismatic">
 332           <parent link="link5"/>
 333           <child link="gripper_link_sub"/>
 334           <origin xyz="0.0817 -0.021 0" rpy="0 0 0"/>
 335           <axis xyz="0 -1 0"/>
 336           <limit velocity="4.8" effort="1" lower="-0.010" upper="0.019" />
 337           <mimic joint="gripper" multiplier="1"/>
 338   </joint>
 339
 340   <!-- Transmission 6 -->
 341   <xacro:SimpleTransmission n="6" joint="gripper_sub" />
 342
 343   <!-- end effector joint -->
 344   <joint name="end_effector_joint" type="fixed">
 345           <origin xyz="0.126 0.0 0.0" rpy="0 0 0"/>
 346           <parent link="link5"/>
 347           <child link="end_effector_link"/>
 348   </joint>
 349
 350   <!-- end effector link -->
 351   <link name="end_effector_link">
 352           <visual>
 353                   <origin xyz="0 0 0" rpy="0 0 0"/>
 354                   <geometry>
 355                           <box size="0.01 0.01 0.01" />
 356                   </geometry>
 357                   <material name="red"/>
 358           </visual>
 359
 360           <inertial>
 361                   <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
 362                   <mass value="0.001"/>
 363                   <inertia ixx="1.0e-06" ixy="0.0" ixz="0.0" iyy="1.0e-06" iyz="0.0" izz="1.0e-06" />
 364           </inertial>
 365   </link>
 366
 367         <sensor_d435 parent="gripper_link">
 368                 <origin xyz="-0.02 -0.018 0.055" rpy="0 0 0"/>
 369         </sensor_d435>
 370 </robot>